Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member

ABSTRACT

A surgical instrument is disclosed. The surgical instrument can include an end effector, comprising an anvil and a staple cartridge. The surgical instrument can further include a shaft defining a longitudinal axis. The surgical instrument can also include an articulation joint, wherein the end effector is rotatably connected to the shaft about the articulation joint between an unarticulated position and at least one articulated position. The surgical instrument can include means for adjusting the length of a firing stroke as a function of the degree in which the end effector is articulated relative to the longitudinal axis. The surgical instrument can include a sensor configured to defect shifting of lateral portions of a flexible firing bar that extends through the articulation joint. Additionally or alternatively, the surgical instrument can include a relief feature configured to accommodate shifting of lateral portions of a flexible firing bar.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 15/807,056, entitledSURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR ANDMEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, filed Nov. 8,2017, now U.S. Patent Application Publication No. 2018/0110519, which isa continuation application claiming priority under 35 U.S.C. § 120 toU.S. patent application Ser. No. 14/574,478, entitled SURGICALINSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANSFOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, filed Dec. 18, 2014,which issued on Dec. 19, 2017 as U.S. Pat. No. 9,844,374, the entiredisclosures of which are hereby incorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jawmembers, wherein each jaw member can be adapted to be inserted into apatient and positioned relative to tissue that is to be stapled and/orincised. In various embodiments, one of the jaw members can support astaple cartridge with at least two laterally spaced rows of staplescontained therein, and the other jaw member can support an anvil withstaple-forming pockets aligned with the rows of staples in the staplecartridge. Generally, the stapling instrument can further include apusher bar and a knife blade which are slidable relative to the jawmembers to sequentially eject the staples from the staple cartridge viacamming surfaces on the pusher bar and/or camming surfaces on a wedgesled that is pushed by the pusher bar. In at least one embodiment, thecamming surfaces can be configured to activate a plurality of stapledrivers carried by the cartridge and associated with the staples inorder to push the staples against the anvil and form laterally spacedrows of deformed staples in the tissue gripped between the jaw members.In at least one embodiment, the knife blade can trail the cammingsurfaces and cut the tissue along a line between the staple rows.Examples of such stapling instruments are disclosed in U.S. Pat. No.7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLEMEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FORDEPLOYING THE SAME, the entire disclosure of which is herebyincorporated by reference herein.

The foregoing discussion is intended only to illustrate various aspectsof the related art in the field of the invention at the time, and shouldnot be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a partial plan view of a surgical instrument assemblycomprising an articulatable end effector including a staple cartridge,wherein the articulatable end effector is illustrated in anunarticulated position, and wherein an articulated position of thestaple cartridge is also illustrated for the purposes of comparison,according to various embodiments of the present disclosure;

FIG. 2 is a detail view of an articulation joint of the surgicalinstrument assembly of FIG. 1, which is configured to permit thearticulation motion illustrated in FIG. 1;

FIG. 3 is a detail cross-sectional view of an interconnection between afiring rod and a firing bar of a firing system of the surgicalinstrument assembly of FIG. 1, wherein the firing system is configuredto eject staples from the staple cartridge positioned in thearticulatable end effector of FIG. 1;

FIG. 4 is a detail view of the interconnection between the firing rodand the firing bar of FIG. 3 illustrated in a configuration associatedwith the unarticulated position of the end effector illustrated in FIG.1;

FIG. 5 is a cross-sectional view of the interconnection of FIG. 3 takenalong line 5-5 in FIG. 4;

FIG. 6 is a cross-sectional view of the interconnection between thefiring rod and the firing bar of FIG. 3 illustrated in a configurationassociated with the articulated position of the end effector illustratedin FIG. 1, according to various embodiments of the present disclosure;

FIG. 7 is a perspective view of the interconnection between the firingrod and the firing bar of FIG. 3 illustrated in the configurationdepicted in FIG. 6, which is associated with the articulated position ofthe end effector depicted in FIG. 1;

FIG. 8 is a perspective view of an interconnection between the firingrod of FIG. 3 and a firing bar of a firing system illustrated in aconfiguration associated with the articulated position of the endeffector illustrated in FIG. 1, according to various embodiments of thepresent disclosure;

FIG. 9 is a partial cross-sectional view of an interconnection betweenthe firing rod of FIG. 3 and a firing bar illustrated in a configurationassociated with the unarticulated position of the end effectorillustrated in FIG. 1, according to various embodiments of the presentdisclosure;

FIG. 10 is a partial cross-sectional view of the interconnection betweenthe firing rod and the firing bar of FIG. 9 illustrated in aconfiguration associated with the articulated position of the endeffector illustrated in FIG. 1;

FIG. 11 is a partial cross-sectional view of an interconnection betweenthe firing rod of FIG. 3 and a firing bar illustrated in a configurationassociated with the unarticulated position of the end effectorillustrated in FIG. 1, according to various embodiments of the presentdisclosure;

FIG. 12 is a partial cross-sectional view of the interconnection betweenthe firing rod and the firing bar of FIG. 11 illustrated in aconfiguration associated with the articulated position of the endeffector illustrated in FIG. 1;

FIG. 13 is a partial cross-sectional view of an interconnection betweenthe firing rod of FIG. 3 and a firing bar of a firing system illustratedin a configuration associated with the unarticulated position of the endeffector illustrated in FIG. 1, according to various embodiments of thepresent disclosure;

FIG. 14 is a partial cross-sectional view of the interconnection betweenthe firing rod and the firing bar of FIG. 13 illustrated in aconfiguration associated with the articulated position of the endeffector illustrated in FIG. 1;

FIG. 15 is a partial exploded view of an interconnection between thefiring rod of FIG. 3 and a firing bar of a firing system illustrated ina configuration associated with the articulated position of the endeffector illustrated in FIG. 1, wherein the firing system comprises acapacitive element movable relative to a sensor, according to variousembodiments of the present disclosure;

FIG. 16 is a diagram depicting the capacitance detectable by the sensorof FIG. 15 as the capacitive element moves relative to the sensor;

FIG. 17 is a partial cross-sectional perspective view of a firing bar ofa firing system comprising a plurality of lateral portions and anencoder system configured to detect the movement of the lateral portionsrelative to each other, according to various embodiments of the presentdisclosure;

FIG. 18 is a partial perspective view of a firing bar of a firing systemcomprising a plurality of lateral portions and an encoder systemconfigured to detect the movement of the lateral portions relative toeach other, according to various embodiments of the present disclosure;

FIG. 19 is a partial cross-sectional view of an interconnection betweenthe firing rod of FIG. 3 and a firing bar of a firing system that isconfigured to eject staples from a staple cartridge positioned in theend effector of the surgical instrument system of FIG. 1, the firingsystem comprising a compression relief joint between the firing rod andthe firing bar, according to various embodiments of the presentdisclosure;

FIG. 20 is a partial cross-sectional view of the interconnection betweenthe firing rod and the firing bar of FIG. 19 illustrated in a partiallycompressed condition, which is consistent with the end effector of FIG.1 being in a partially articulated position;

FIG. 21 is a partial cross-sectional view of the interconnection betweenthe firing rod and the firing bar of FIG. 19 illustrated in a compressedcondition, which is consistent with the end effector of FIG. 1 being inan articulated position;

FIG. 22 is a partial cross-sectional view of a staple cartridge and afiring system comprising a staple deploying sled and a knife member,wherein the firing system comprises a stroke compensation memberpositioned intermediate the sled and the knife member, according tovarious embodiments of the present disclosure;

FIG. 23 is a partial perspective view of a cartridge channel, a staplecartridge positioned in the cartridge channel, a firing member movablerelative to the staple cartridge and cartridge channel, and a distalknife stop contactable by the firing member, according to variousembodiments of the present disclosure;

FIG. 24 is a partial perspective view of a distal end of a staplecartridge illustrated with components removed for the purposes ofclarity comprising distal openings defined in the staple cartridge,wherein the distal openings are configured to permit portions of afiring system to extend therethrough, according to various embodimentsof the present disclosure;

FIG. 25 is a plan view of an articulatable end effector comprising aplurality of stops configured to limit the firing stroke of a firingmember depending on the amount in which the end effector has beenarticulated, wherein the articulatable end effector is illustrated in anunarticulated position, and wherein an articulated position of thestaple cartridge is also illustrated for the purposes of comparison,according to various embodiments of the present disclosure;

FIG. 26 is a partial plan view of a surgical instrument including anarticulatable end effector, a shaft, and a firing path shifter, whereinthe articulatable end effector is in an unarticulated orientationrelative to the shaft, according to various embodiments of the presentdisclosure;

FIG. 27 is a partial plan view of the surgical instrument of FIG. 26,wherein the articulatable end effector is in an articulated orientationrelative to the shaft;

FIG. 28 is a perspective view of an end effector of a surgical staplinginstrument according to various embodiments of the present disclosure;

FIG. 29 is a cross-sectional elevational view of the end effector inFIG. 28;

FIG. 30 is a partial perspective view of a cartridge channel of an endeffector according to various embodiments of the present disclosure;

FIG. 31 is a cross-sectional elevational view of an end effector in aclosed position with a firing member assembly in an unfired positionaccording to various embodiments of the present disclosure;

FIG. 32 is a cross-sectional elevational view of the end effector ofFIG. 31 wherein the firing member assembly is in a partially-firedposition;

FIG. 33 is a cross-sectional elevational view of the end effector ofFIG. 31 wherein the firing member assembly is in an end of strokeposition;

FIG. 34 is an elevational side view of a firing member according tovarious embodiments of the present disclosure;

FIG. 35 is a perspective view of a channel retainer of an end effectoraccording to various embodiments of the present disclosure;

FIG. 36 is a partial perspective view of an end effector assemblyincluding the channel retainer of FIG. 35 rotatably coupled to a shaftabout an articulation joint according to various embodiments of thepresent disclosure;

FIG. 37 is a cross sectional perspective view of the end effectorassembly of FIG. 36 in an unfired position;

FIG. 38 is a cross-sectional perspective view of the end effectorassembly of FIG. 36 in an end of stroke position;

FIG. 39 is a table illustrating example signal outputs based on thecondition of the firing member assembly;

FIG. 40 is an elevational side view of an alternative firing member tothat of FIG. 34;

FIG. 41 is a cross-sectional perspective view of an end effectorassembly including an alternative firing member according to variousembodiments of the present disclosure;

FIG. 42 is a perspective view of a cartridge support channel accordingto various embodiments of the present disclosure;

FIG. 43 is a partial cross-sectional perspective view of an end effectorassembly comprising a feedback strip according to various embodiments ofthe present disclosure;

FIG. 44 is a partial cross-sectional perspective view of a handleassembly according to various embodiments of the present disclosureillustrated with portions removed for the purpose of illustration;

FIG. 45 is a partial perspective view of a handle assembly according tovarious embodiments of the present disclosure illustrated with portionsremoved for the purpose of illustration;

FIG. 46 is a cross-sectional partial plan view of the handle assembly ofFIG. 45;

FIG. 47 is a cross-sectional plan view of a handle assembly comprisingan end of stroke clutch according to various embodiments of the presentdisclosure illustrated with portions removed for the purpose ofillustration;

FIG. 48 is a partial cross-sectional elevational view of an end effectoraccording to various embodiments of the present disclosure;

FIG. 49 is a cross-sectional elevational view of an end effector, anarticulation joint, and part of a shaft of a surgical instrumentaccording to various embodiments of the present disclosure, illustratedwith the end effector in an unarticulated orientation and furtherdepicting a firing bar stop in a distal position;

FIG. 50 is a partial cross-sectional plan view of the end effector, thearticulation joint, and the shaft of FIG. 49, illustrated with the endeffector in the unarticulated orientation and further depicting thefiring bar stop in the distal position;

FIG. 51 is a partial cross-sectional elevational view of the endeffector, the articulation joint, and the shaft of FIG. 49, illustratedwith the end effector in the unarticulated orientation and furtherdepicting the firing bar stop in the distal position;

FIG. 52 is a partial cross-sectional plan view of the end effector, thearticulation joint, and the shaft of FIG. 49, illustrated with the endeffector in an articulated orientation and further depicting the firingbar stop in a proximal position; and

FIG. 53 is a partial cross-sectional elevational view of the endeffector, the articulation joint, and the shaft of FIG. 49, illustratedwith the end effector in the articulated orientation and furtherdepicting the firing bar stop in the proximal position.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat.        No. 10,188,385;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,844,375;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Pat. No. 10,245,027;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat.        No. 10,004,501;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Pat. No. 9,987,000; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM;        now U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,782,169;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,554,794;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Pat. No. 9,687,230;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Pat. No. 9,883,860;    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,808,244;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat.        No. 10,470,762;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,629,623;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.        9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENTCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272582;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATIONVERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OFNUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent ApplicationPublication No. 2015/0272580;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENTTHROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S.Pat. No. 10,013,049;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWEREDSURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No.9,743,929;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACKALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.Pat. No. 10,028,761;

U.S. patent application Ser. No. 14/226,116, entitled SURGICALINSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent ApplicationPublication No. 2015/0272571;

U.S. patent application Ser. No. 14/226,071, entitled SURGICALINSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat. No.9,690,362;

U.S. patent application Ser. No. 14/226,097, entitled SURGICALINSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No. 9,820,738;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMSFOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,004,497;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICALINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272557;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No.9,804,618;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENTTHROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Pat.No. 9,733,663;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLINGINSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICALINSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No. 10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        10,111,679;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Pat. No. 9,724,094;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat.        No. 9,737,301;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Pat. No. 9,757,128;    -   U.S. patent application Ser. No. 14/479,110, entitled USE OF        POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE,        now U.S. Pat. No. 10,016,199;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat.        No. 10,135,242;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        9,788,836; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Pat. No. 9,826,976;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No.        9,649,110;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE        OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Pat. No.        9,844,368;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLER, now U.S. Pat. No. 10,405,857;    -   U.S. patent application Ser. No. 14/248,591, entitled        TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S.        Pat. No. 10,149,680;    -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Pat. No. 9,801,626;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLER, now U.S. Pat. No. 9,867,612;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Pat. No. 10,136,887; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

An end effector can be configured to articulate relative to the handleand/or shaft of a surgical instrument. For example, the end effector canbe pivotably and/or rotatably coupled to the shaft of the surgicalinstrument such that the end effector is configured to pivot relative tothe shaft and the handle. In various instances, the end effector can beconfigured to articulate at an articulation joint located intermediatethe end effector and the shaft. In other instances, the shaft caninclude a proximal portion, a distal portion, and an articulation joint,which can be located intermediate the proximal portion and the distalportion of the shaft, for example.

Referring now to FIGS. 1 and 2, an articulation joint 130 of a surgicalinstrument 100 is partially depicted. The surgical instrument 100includes a shaft 110 and an articulatable end effector 120. Thearticulatable end effector 120 shown in FIGS. 1 and 2 is coupled to theshaft 110 of the surgical instrument 100 at the articulation joint 130,which permits articulation of the end effector 120 relative to the shaft110. A staple cartridge 122 is positioned in the depicted end effector120. Referring primarily to FIG. 1, the depicted staple cartridge 122includes a cartridge body 124 having a plurality of staple cavities 126.In various instances, fasteners, such as staples, for example, can beremovably positioned in the staple cavities 126.

In certain instances, the staple cartridge 122 can be removablypositioned in the end effector 120 and, in other instances, the staplecartridge 122 can be permanently fixed to and/or integrally formed withthe end effector 120. In certain instances, the cartridge body 124 caninclude a rigid body having defined staples cavities 126. Additionallyor alternatively, the cartridge body 124 can include a flexible and/ordeformable portion, and staples may be embedded and/or partiallyembedded in the cartridge body 124.

A surgical instrument can include a flexible firing bar, which canextend through an articulation joint. In such instances, the flexiblefiring bar can be configured to bend or flex at the articulation jointwhen the end effector is in an articulated orientation. In at least oneinstance, the flexible firing bar can include a plurality of laterallayers or portions. The flexible firing bar can define an inside radiusof curvature and an outside radius of curvature at the bend in thearticulation joint. For example, the outside lateral portion of theflexible firing bar can extend along a first path that defines anoutside radius of curvature within the articulation joint, and theinside lateral portion of the flexible firing bar can extend along asecond path that defines an inside radius of curvature within thearticulation joint. The outside radius of curvature of the firing barcan be greater than the inside radius of curvature. As a result, theinside lateral portion of the flexible firing bar may extend a greaterdistance proximally than the outside lateral portion of the flexiblefiring bar. The radius of curvature of each lateral portion, and thusthe relative position of each lateral portion, can be a function of thedegree in which the end effector has been articulated.

As the flexible firing bar flexes at the articulation joint, further tothe above, the lateral portions can be configured to shift relative toeach other. In various instances, the lateral portions can be coupledtogether at the distal end, such as by welding, for example. In suchinstances, the remaining length of each lateral portion, e.g., thenon-coupled portions, can be free to shift and/or slide relative to theadjacent lateral portion(s).

In various instances, as the flexible firing bar flexes and the lateralportions shift, the proximal ends of some of the lateral portions candisplace relative to the other lateral portions, for example. In certaininstances, the proximal end of at least one lateral portion can bedisplaced distally and the proximal end of at least one lateral portioncan be displaced proximally, for example. In still other instances, theproximal ends of each lateral portion can be displaced and/or pushedproximally, for example. The position of each lateral portion within theshaft and relative to the other lateral portions can depend on thearticulation angle of the end effector.

In various instances, the flexible firing bar can be coupled to a firingrod or beam. The firing rod can be configured to transfer a firing forceto the flexible firing bar. In certain instances, the firing rod can beconfigured to move a predefined distance to displace the flexible firingbar to a predefined distal-most position in the unarticulated endeffector. However, when the end effector is articulated and the proximalends of the lateral portion have been shifted, movement of the firingrod the predefined distance may not displace the flexible firing bar tothe predefined distal-most position in the articulated end effector.Rather, when the end effector is articulated, the flexible firing barmay stop short of the predefined distal-most position if the firing rodis only displaced the predefined distance. Moreover, the distal positionachieved by the flexible firing bar when the firing rod is displaced apredefined distance can depend on the degree in which the end effectoris articulated.

As a result, when the end effector is articulated, a staple-deployingsled and/or a cutting edge driven through the staple cartridge by theflexible firing bar may not reach the same distal position relative tothe distal end of the end effector. Rather, the firing system may stopadvancing the sled and/or the cutting edge before the sled and/or thecutting edge reaches the distal position that would be reached if theend effector was unarticulated. Consequently, when the end effector isarticulated, the cutting edge may not complete the cutting motion and/orthe sled may not complete the firing motion and thus may not fire thestaples from the distal-most staple cavities. In various instances, thedegree of articulation of the end effector can affect the distalposition reached by the flexible firing bar, the staple-deploying sled,and/or the cutting edge during a firing stroke.

In certain instances, to ensure the flexible firing bar, thestaple-deploying sled, and/or the cutting edge reach their intendeddistal-most positions within the end effector, the firing stroke can beadjusted. For example, when the end effector is articulated, the firingstroke can be adjusted such that the firing rod is displaced a greaterdistance. In certain instances, the adjustment to the firing stroke candepend on the articulation angle of the end effector. For example, thedisplacement of the firing rod during an adjusted firing stroke canincrease as the articulation angle of the end effector increases.

Referring to the surgical instrument 100 and components thereof depictedin FIGS. 1-7, the surgical instrument 100 includes a firing system 112,which is configured to transfer a firing motion from the handle of thesurgical instrument 100 to the end effector 120. In the depictedembodiment, the firing system 112 includes a firing rod 114, which iscoupled to a flexible firing bar 118 at a coupling or connection 116(FIGS. 3-7). The firing rod 114 can extend into the shaft 110 and cantranslate in response to driving motions initiated in the handle of thesurgical instrument 100. In various instances, the firing rod 114 canresist deformation, torqueing and/or bowing when transferring a firingmotion. For example, the firing rod 114 can be comprised of a rigidand/or inflexible material and/or structure.

At the coupling 116, referring primarily now to FIGS. 3-5, the firingrod 114 is engaged with a key 119 of the flexible firing bar 118. Forexample, the key 119 can extend into an aperture 115 in the firing rod114. The firing rod-key engagement is configured to transfer thetranslation of the firing rod 114 to the flexible firing bar 118. Invarious instances, the coupling 116 can be proximate to the articulationjoint 130 such that the flexible firing bar 118 extends from thecoupling 116 and through the articulation joint 130.

The flexible firing bar 118 includes a plurality of lateral portions orlayers 128 a, 128 b, 128 c, 128 d. In various instances, the portions128 a, 128 b, 128 c, 128 d can be held together and movable and/orshiftable relative to each other. For example, the lateral portions 128a, 128 b, 128 c, 128 d can be fixed together at the distal end of theflexible firing bar 118. The portions 128 a, 128 b, 128 c, 128 d can bewelded, formed together, fastened and/or otherwise secured together atthe distal ends thereof, for example. At least a portion of theremaining length of the lateral portions 128 a, 128 b, 128 c, 128 d canbe configured to move and/or shift relative to the adjacent lateralportion(s) 128 a, 128 b, 128 c, 128 d. For example, when the flexiblefiring bar 118 bends at the articulation joint 130, the lateral portions128 a, 128 b, 128 c, 128 d can shift into a staggered and/or offsetconfiguration between the bend in the articulation joint 130 and theproximal end of the flexible firing bar 118, as illustrated in FIG. 6.

Referring again to FIGS. 1-3, the portions 128 a, 128 b, 128 c, 128 d ofthe flexible firing bar 118 can extend along firing paths through thearticulation joint 130. When the end effector 120 is articulatedrelative to the shaft 110, the flexible firing bar 118 and portions 128a, 128 b, 128 c, 128 d thereof can bend within the articulation joint130. In such instances, the lateral portions 128 a, 128 b, 128 c, 128 dcan extend along altered paths when the end effector 120 is articulated.

For example, referring primarily to FIG. 2, the outside portion 128 acan extend along an outside path having an outside radius of curvature,and the inside portion 128 d can extend along an inside path having aninside radius of curvature. Due to the deformation of the firing bar 118within the articulation joint 130, the inside radius of curvature can bedifferent than the outside radius of curvature. For example, referringto FIGS. 1 and 2, the outside radius of curvature is larger than theinside radius of curvature. As a result, referring now to FIG. 6, theportions 128 a, 128 b, 128 c, 128 d can become staggered at the proximalend portion 140 of the flexible firing bar 118 when the end effector 120is in an articulated orientation relative to the shaft 110.

In certain instances, the shifted proximal end portion 140 of theflexible firing bar 118 and the firing bar portions 128 a, 128 b, 128 c,128 d can ultimately effect the distal position reached by the flexiblefiring bar 118 during a firing stroke. For example, the distal positionreachable by the flexible firing bar 118 during the firing stroke canchange as the end effector 120 articulates. As a result, the distalposition reached by a staple-deployment sled and/or cutting elementduring the firing stroke can also be shifted when the end effector 120is in an articulated orientation.

In certain instances, it may be desirable to estimate the distance thatthe flexible-firing bar 118 can be displaced by the firing stroke basedon calculations and/or approximations. Such calculations and/orapproximations can be based on the degree in which the end effector hasbeen articulated. In still other instances, it may be desirable tomonitor and/or otherwise determine the position of the flexible firingbar 118 during the firing stroke. For example, at least one sensor atthe distal end, proximal end, and/or intermediate portion of theflexible firing bar 118 can detect the displacement of the flexiblefiring bar 118 during the firing stroke and/or the shifting of thelateral portions 128 a, 128 b, 128 c, 128 d during an articulationmotion. In various instances, a sensor can comprise a resistive sensor,inductive sensor, capacitance sensor, and/or a magnetic sensor, forexample.

In various instances, it can be desirable to adjust the firing strokelength based on the position of the flexible firing bar 118 and/or thedegree of articulation of the end effector 120. In various instances, adetection system and/or a sensor can be configured to detect theshifting of the lateral portions 128 a, 128 b, 128 c, 128 d of theflexible firing bar 118 to determine the degree of articulation of theend effector 120. In certain instances, the detection system and/or thesensor can be positioned proximal to the articulation joint 130. Forexample, the detection system and/or the sensor can be positioned withinthe shaft 110 at and/or near the proximal end 140 of the flexible firingbar 118 and/or the lateral portions 128 a, 128 b, 128 c, 128 d thereof.In still other instances, a detection system and/or a sensor can beconfigured to monitor the position of the flexible firing bar 118 duringthe firing stroke and adjust the firing stroke length based on thedetected position of the flexible firing bar 118. For example, thedetection system and/or the sensor can be positioned in the end effector120 and/or distal to the articulation joint 130. In still otherinstances, such a sensor can be positioned in the shaft 110 of thesurgical instrument 100 proximal to the articulation joint 130.

The surgical instrument 100 can include a sensor, such as a Hall effectsensor and/or a resistive contact, for example, which can be configuredto detect shifting of the lateral portions 128 a, 128 b, 128 c, 128 dwhen the end effector 120 is articulated. As described herein, theamount of shifting can correspond to the degree in which the endeffector 120 is articulated. A detection system 250 is depicted in FIGS.6 and 7. The detection system 250 can be configured to detect shiftingand/or staggering of the lateral portions 128 a, 128 b, 128 c, 128 d atthe proximal end 140 of the flexible firing bar 118 (FIGS. 1-7).

Referring still to FIGS. 6 and 7, the detection system 250 can bemounted and/or otherwise positioned in the shaft 110 of the surgicalinstrument 100 (FIG. 1). In various instances, the detection system 250can include at least one magnet and a Hall effect sensor. For example,the depicted detection system 250 includes a series of magnets 252 a,252 b, 252 c, 252 d and 252 e and a Hall effect sensor 254, for example.The magnets 252 a, 252 b, 252 c, 252 d and 252 e are positioned on thefiring bar 118. For example, the magnets 252 a, 252 b, 252 c, 252 d and252 e are spaced along the proximal end portion 140 of the firing bar118 within the coupling 116.

As depicted in FIG. 6, the magnets 252 a, 252 b, 252 c, 252 d and 252 ecan be mounted to at least one of the lateral portions 128 a, 128 b, 128c, 128 d of the flexible firing bar 118. In the depicted arrangement,the magnets 252 a, 252 b, 252 c, 252 d and 252 e are mounted to thefourth portion 128 d. Moreover, the Hall effect sensor 254 can also bepositioned in the shaft 110. For example, the Hall effect sensor 254 canbe mounted on the shaft 110 above the proximal end portion 140 of thefiring bar 118. In such instances, the Hall effect sensor 254 can befixed and/or stationary relative to the shaft 110 and the magnets 252 a,252 b, 252 c, 252 d and 252 e can be configured to move relative to thesensor 254 when the end effector 120 is articulated.

In certain instances, the detection system 250 can include less than ormore than the five magnets 252 a, 252 b, 252 c, 252 d and 252 e depictedin FIGS. 6 and 7. Furthermore, the magnets 252 a, 252 b, 252 c, 252 dand 252 e may be mounted to and/or on a plurality of the lateralportions 128 a, 128 b, 128 c, 128 d. Moreover, as described herein, atleast one Hall effect sensor can be mounted to one or more of thelateral portions 128 a, 128 c, 128 c, 128 d.

The magnets can include permanent magnets and/or electromagnets, forexample. In certain instances, the portions 128 a, 128 b, 128 c, 128 dcan include a ferrous material, for example, which can form the magnetsof the detection system 250. For example, the ferrous material can beembedded in the lateral portions 128 a, 128 b, 128 c, 128 d, and/or cancomprise a coating around a region of the lateral portions 128 a, 128 b,128 c, 128 d.

Due to the arrangement of the various components of the detection system250, the detection system 250 can be configured to detect the amount offiring bar stagger that occurs when the end effector 120 (FIG. 1) ismoved to an articulated orientation. In various instances, as the firingbar 118 bends in the articulation joint 130, the lateral portions 128 a,128 b, 128 c, 128 d can shift, such that the proximal ends of theportions 128 a, 128 b, 128 c, 128 d are displaced. As the portions 128a, 128 b, 128 c, 128 d shift relative to each other, the magnets 252 a,252 b, 252 c, 252 d and 252 e mounted to the fourth portion 128 d canalso shift. In such instances, the Hall effect sensor 254 can detect thedisplacement of the magnets 252 a, 252 b, 252 c, 252 d and 252 e. Basedon the detected displacement of the magnets 252 a, 252 b, 252 c, 252 dand 252 e, the degree of end effector articulation can be determinedand/or estimated.

In various instances, the detection system 250 can be in communicationwith a controller, which can be configured to detect the articulationangle based on feedback from the Hall effect sensor 254. Additionally oralternatively, the controller can be configured to adjust the length ofthe firing stroke based on the calculated and/or estimated degree of endeffector articulation based on the detected stagger and/or offsetsbetween the portions 128 a, 128 b, 128 c, 128 d. In such instances, thecontroller can adjust the firing stroke length such that the flexiblefiring bar 118 reaches a predefined distal-most position in the endeffector 120, i.e., the same predefined distal-most position that thefiring bar 118 reaches when the end effector 120 is in an unarticulatedposition.

In various instances, an encoding system can be configured to detectand/or determine the degree of articulation of an end effector. Forexample, referring now to FIG. 8, a flexible firing bar 318 can becoupled to the firing rod 114 at the coupling 316. Similar to theflexible firing bar 118 (FIGS. 1-7), the flexible firing bar 318 isconfigured to transfer a firing motion from the firing rod 114, throughthe articulation joint 130 (FIGS. 1 and 2), and to the end effector 120(FIGS. 1 and 2). The flexible firing bar 318 can include a plurality oflateral portions 328 a, 328 b, 328 c, and 328 d, which can shiftrelative to each other when the end effector 120 is articulated. Similarto the above, the proximal ends of the portions 328 a, 328 b, 328 c, and328 d can become staggered, as illustrated in FIG. 8. The portions 328a, 328 b, 328 c, and 328 d can include uneven and/or irregular sections352 at the proximal end portion 340 of the flexible firing bar 318.

In the depicted embodiment, each uneven section 352 includes a pluralityof teeth 354. In other instances, each uneven section 352 can include asingle tooth 354. Additionally or alternatively, at least one unevensection 352 can define a plurality of contours, angled portions, valleysand/or peaks. In certain instances, the teeth 354 can define contouredand/or rounded valleys and/or peaks, for example, such that the teeth354 form a rolling and/or undulating profile, for example. In certaininstances, two or more of the lateral portions 328 a, 328 b, 328 c, 328d can include a uneven section 352. In some instances, each lateralportion 328 a, 328 b, 328 c, 328 d can include at least one unevensection 352. In various instances, at least two uneven sections 352 candefine a different profile.

Referring still to FIG. 8, a linear encoding system 350 is depicted. Thelinear encoding system 350 includes a signal generator 356 and a signalreceiver 358. The signal generator 356 can be configured to send signalsto the signal receiver 358. As the signals pass the uneven section(s)352 of the portion(s) 328 a, 328 b, 328 c, and 328 d, at least some ofthe signals can be deflected and/or diverted. Moreover, as the unevensections 352 are displaced, staggered and/or otherwise affected when theend effector 120 is articulated, the signal receiver 358 can detect thechange in the signal that is received and determine the relativearrangement of the laterals portions 328 a, 328 b, 328 c, 328 d, andthus determine the degree of articulation of the end effector 120.

In various instances, the detection system 350 can be in communicationwith a controller which can be configured to detect the articulationangle of the end effector 120 based on feedback from the receiver 358.Additionally or alternatively, the controller can be configured toadjust the length of the firing stroke based on the detected staggerand/or offsets between the portions 328 a, 328 b, 328 c, 328 d, whichare used to calculate and/or estimate the degree in which the endeffector has been articulated. In such instances, the controller canadjust the firing stroke length such that the flexible firing bar 318reaches a predefined distal-most position in the end effector, i.e., thesame predefined distal-most position that the firing bar 118 reacheswhen the end effector 120 is in an unarticulated position.

In various instances, the encoding system 350 can include an optic,magnetic, and/or capacitive encoder, for example. In certainembodiments, the signal generator 356 can generate a wave, such as alight wave, radio wave, microwave, and/or x-ray, for example. In someinstances the signal generator 356 can generate a plurality of lasersignals, for example.

In certain instances, an electrically-conductive material can beconfigured to detect the amount of stagger between the lateral portionsof a firing bar. Referring now to FIGS. 9 and 10, a band 450 is securedto the proximal end of a flexible firing bar 418. Similar to theflexible firing bar 118 (FIGS. 1-7), the flexible firing bar 418 isconfigured to transfer a firing motion from the firing rod 114, throughthe articulation joint 130 (FIGS. 1 and 2), and to the end effector 120(FIGS. 1 and 2). The flexible firing bar 418 includes a plurality oflateral portions 428 a, 428 b, 428 c, and 428 d, which can shiftrelative to one another when the end effector 120 is articulated. Insuch instances, the proximal ends of the portions 428 a, 428 b, 428 c,and 428 d become staggered.

The depicted band 450 includes a first end 452, which is a secured tothe fourth portion 428 d, and a second end 454, which is secured to thefirst portion 428 a. As the portions 428 a, 428 b, 428 c, 428 d shiftrelative to each other when the end effector 120 is articulated, theband 450 can stretch to accommodate the staggered proximal ends of theportions 428 a, 428 b, 428 c, 428 d. For example, the band 450 canstretch as the end effector 120 is moved from an unarticulatedorientation (FIG. 9) to an articulated orientation (FIG. 10). In suchinstances, the band 450 can continue to stretch as the portions 428 a,428 b, 428 c, 428 d continue to stagger in response to articulation ofthe end effector 120. For example, as the articulation angle of the endeffector 120 increases, the portions 428 a, 428 b, 428 c, 428 d canbecome more staggered and the band 450 can become more stretched.

Referring still to FIGS. 9 and 10, the depicted band 450 is secured tothe outside portions 428 a, 428 d of the flexible firing bar 418.Moreover, the band 450 is configured to extend around the proximal end440 of the flexible firing bar 418. For example, the band 450 depictedin FIGS. 9 and 10 extends around the proximal end 440 of the flexiblefiring bar 418 and extends past the proximal ends of the intermediate orinside portions 428 b and 428 c.

In other instances, the band 450 can extend around the perimeter of theflexible firing bar 418 proximal to the distal end 440. In still otherinstances, the band 450 can extend between adjacent lateral portions ofthe flexible firing bar 418, such as the inside portions 428 b and 428c, for example. Additionally or alternatively, a plurality of flexiblebands can be mounted to the flexible firing bar 418.

In various instances, the flexible band 450 can include anelectrically-active polymer, for example. In such instances, as theflexible band 450 stretches, the electrically-active polymer can providea signal that is indicative of the amount of band stretch, and thus, theamount of firing bar stagger. In other instances, the band 450 could becomprised of other conductive materials having different electricalcharacteristics reflective of the strain in the band.

In various instances, the flexible band 450 can be in communication witha controller, which can be configured to detect the articulation anglebased on feedback from the band 450. For example, the strain in the band450 can be a function of the degree in which the end effector isarticulated. More particularly, the strain can correspond to the voltagepotential, which can be detectable by the controller. For example, thecontroller can detect a greater voltage potential when the strain in theband 450 is greater, which corresponds to a larger articulation angle ofthe end effector 120. Moreover, if the end effector 120 is lessarticulated relative to the shaft 110, i.e., if the articulation angleof the end effector 120 is reduced, the controller can detect a reducedvoltage potential, which corresponds to a reduced strain in the band450. The adjustment to the firing stroke length can depend on the degreein which the end effector 120 has been articulated and can beindependent of the direction of articulation. For example, when the endeffector 120 has been articulated x° to the right or x° to the left, thefiring stroke length can be increased by a distance z.

Additionally or alternatively, the controller can be configured toadjust the length of the firing stroke based on the detected staggerand/or offsets between the portions 428 a, 428 b, 428 c, 428 d, whichare used to calculate and/or estimate the degree in which the endeffector 120 has been articulated. In such instances, the controller canadjust the firing stroke length such that the flexible firing bar 418reaches a predefined distal-most position in the end effector 120, i.e.,the same predefined distal-most position that the firing bar 418 reacheswhen the end effector is in an unarticulated position.

In various instances, at least one Hall effect sensor positioned on aflexible firing bar can be configured to detect shifting of the lateralportions of the flexible firing bar. Referring now to FIGS. 11 and 12, adetection system 550 is depicted at the proximal end 540 of a flexiblefiring bar 518. Similar to the flexible firing bar 118 (FIGS. 1-7), theflexible firing bar 518 is configured to transfer a firing motion fromthe firing rod 114, through the articulation joint 130 (FIGS. 1 and 2),and to the end effector 120 (FIGS. 1 and 2). The flexible firing bar 518includes a plurality of lateral portions 528 a, 528 b, 528 c, and 528 d,which can shift when the end effector 120 is articulated. In suchinstances, the proximal ends of the portions 528 a, 528 b, 528 c, and528 d become staggered.

The depicted detection system 550 includes a magnet 552 and a Halleffect sensor 554. The magnet 552 and the Hall effect sensor 554 arelocated on opposite lateral sides of the flexible firing bar 518. Forexample, the magnet 552 can be positioned on an outside portion of theflexible firing bar 518, such as fourth portion 528 d, for example, andthe Hall effect sensor 554 can be positioned on the other outsideportion of the flexible firing bar 518, such as first portion 528 a, forexample.

As the end effector 120 moves from an unarticulated orientation (FIG.11) to an articulated orientation (FIG. 12), the lateral portions 528 a,528 b, 528 c, 528 d of the flexible firing bar 518 can shift relative toeach other. As a result, the distance between the magnet 552 on theoutside portion 528 d and the Hall effect sensor 554 on the outsideportion 528 a can change. For example, referring still to FIGS. 11 and12, the magnet 552 and the sensor 554 can be separated by a distance dwhen the end effector is in an unarticulated orientation (FIG. 11), andcan be separated by a distance d′, which is greater than distance d,when the end effector is in an articulated orientation (FIG. 12).

In certain instances, the detection system 550 can further include anelectrically-conductive guide or contact slide 556. The contact slide556 can be configured to guide and/or protect the Hall effect sensor 554as the sensor 554 shifts in the shaft 110. In various instances, thecontact slide 556 can be mounted to and/or formed on the firing rod 114.For example, the contact slide 556 can be defined on a surface of thefiring rod 114 and/or along at least a portion the aperture 115.

In various instances, the contact slide 556 can provide power to theHall effect sensor 554. For example, the contact slide 556 can becoupled to a power source and the Hall effect sensor 554. In suchinstances, the Hall effect sensor 554 can be configured to remain insliding contact with the contact slide 556 as the end effector 120 movesfrom an unarticulated orientation to an articulated orientation. Thedetection system 550 can further include a second contact slide, whichcan provide a return path from the Hall effect sensor 554 to theremainder of the circuit. Additionally or alternatively, in instanceswhere the magnet 552 requires power, a pair of contact slides canprovide power to the magnet 552.

The degree in which the end effector 120 has been articulated can bebased on the firing bar stagger detected by the detection system 550.Moreover, the detection system 550 can be in communication with thecontroller, which can adjust the length of the firing stroke based onthe amount of firing bar stagger and the associated degree of endeffector articulation. In such instances, the controller can adjust thefiring stroke length such that the flexible firing bar 518 reaches apredefined distal-most position in the end effector 120, i.e., the samepredefined distal-most position that the firing bar 518 reaches when theend effector is in an unarticulated position.

Referring now to FIGS. 13 and 14, a flexible firing bar 618 is depicted.In various instances, the flexible firing bar 618 can be used in thefiring system 112 of the surgical instrument 100 (FIG. 1), for example.The flexible firing bar 618 includes a plurality of lateral portions 628a, 628 b, 628 c, 628 d. When the end effector 120 (FIG. 1) isunarticulated relative to the shaft 110, referring primarily to FIG. 13,the lateral portions 628 a, 628 b, 628 c, 628 d are staggered and/oroffset from each other at the proximal end 640 of the firing bar 618. Invarious instances, the lateral portions 628 a, 628 b, 628 c, 628 d canbe different lengths. For example, the inside portions 628 b and 628 ccan be longer than the outside portions 628 a and 628 d by a length x.As a result, the outside portions 628 a, 628 d are staggered relative tothe inside portions 628 b, 628 c by the length x.

Referring primarily to FIG. 14, when the end effector 120 (FIG. 1) isarticulated relative to the shaft 110, the lateral portions 628 a, 628b, 628 c, 628 d can shift relative to each other. For example, theproximal ends of the portions closer to the inside of the curvature,i.e., the portions 628 c and 628 d in FIG. 14, can shift proximallyrelative to the portions closer to the outside of the curvature, i.e.,the portions 628 a and 628 b. In certain instances, the fourth portion628 d can shift toward alignment with the third portion 628 c and/orproximally past the third portion 628 c, for example. Additionally, theportions closer to the outside of the curvature, i.e., the portions 628a and 628 b in FIG. 14, can shift distally relative to the portionscloser to the inside of the curvature, i.e., the portions 628 c and 628d. In certain instances, the second portion 628 c can shift out ofalignment with the third portion 628 b, for example.

In certain instances, a sensor can be configured to detect the shiftingof the lateral portions 628 a, 628 b, 628 c, 628 d when the end effector120 (FIG. 1) is articulated. For example, a proximity sensor can bepositioned in the shaft 110 to monitor and/or detect the changingpositions of the proximal ends of the lateral portions 628 a, 628 b, 628c, 628 d. The sensor can comprise a resistive sensor, inductive sensor,capacitance sensor, and/or a magnetic sensor, for example.

In various instances, the sensor can be in communication with acontroller, which can be configured to detect the articulation angle ofthe end effector 120 based on feedback from the sensor. Additionally oralternatively, the controller can be configured to adjust the length ofthe firing stroke based on the detected stagger and/or offsets betweenthe portions 628 a, 628 b, 628 c, 628 d, which are used to calculateand/or estimate the degree in which the end effector has beenarticulated. In such instances, the controller can adjust the firingstroke length such that the flexible firing bar 618 reaches a predefineddistal-most position in the end effector, i.e., the same predefineddistal-most position that the firing bar 618 reaches when the endeffector 120 is in an unarticulated position.

As discussed above, a firing bar extending through an articulation jointinto an end effector can be bent as the end effector is articulated. Invarious instances, an electrical circuit on a flexible firing bar can beconfigured to detect the amount in which the portions of the firing barshift as the firing bar is bent during the articulation motion.Referring now to FIG. 15, a flexible firing bar 718 is coupled to thefiring rod 114 at a coupling 716. Similar to the flexible firing bar 118(FIGS. 1-7), the flexible firing bar 718 is configured to transfer afiring motion from the firing rod 114, through the articulation joint130 (FIGS. 1 and 2), and to the end effector 120 (FIG. 1) of thesurgical instrument 100. The flexible firing bar 718 includes aplurality of lateral portions 728 a, 728 b, 728 c, and 728 d, whichshift when the end effector 120 is articulated. In such instances, theproximal ends of the lateral portions 728 a, 728 b, 728 c, and 728 dbecome staggered.

Referring still to FIG. 15, a detection system 750 is depicted. Thedetection system 750 includes an electrical circuit having a firstcontact 752 and a second contact 754. The electrical circuit can beconfigured to detect the amount of firing bar stagger as the endeffector 120 (FIG. 1) is articulated. In various instances, the firstcontact 752 and the second contact 754 can be mounted between two ormore lateral portions 728 a, 728 b, 728 c, 728 d of the firing bar 718.For example, the first contact 752 can be mounted to and/or integrallyformed with one of the lateral portions, such as the first portion 728a, for example, and the second contact 754 can be mounted to and/orintegrally formed with an adjacent lateral portion, such as the secondportion 728 b, for example.

Referring still to FIG. 15, the contacts 752, 754 can be positioned onthe keys 719 of each lateral portions 728 a, 728 b. Further to theabove, each key 719 can extend into an aperture 115 in the firing rod114. The firing rod-key engagement is configured to transfer thetranslation of the firing rod 114 to the flexible firing bar 118. As thefirst portion 728 a shifts relative to the second portion 728 b, thefirst contact 752 can move relative to the second contact 754, forexample. Alternatively, the second contact 754 can move relative to thefirst contact 752 when the second portion 728 b moves relative to thefirst portion 728 a.

In various instances, the second contact 754 can comprise a flexiblecircuit having a variable size along the longitudinal axis. For example,the flexible circuit can define a wavy tracing pattern. In variousinstances, the second contact 754 can comprise a toothed and/or gearedface 766. Ridges and/or teeth 762 can protrude from the face 766 of thesecond contact 754 and/or grooves 764 can be defined into the face 766of the second contact 754. In the depicted embodiment, the length of theridges 762 and grooves 764 varies along the length of the face 766 toform the wavy tracing pattern. As a result, the face 766 defines aplurality of discrete locations of different sizes and/or lengths.Referring still to FIG. 15, an insulated area 758 can extend around theface 766 of the second contact 754. In various instances, the firstcontact 752 can comprise a single contact edge. As depicted in FIG. 15,an insulated area 756 can be positioned on both sides of the firstcontact 752.

Referring still to FIG. 15, the second contact 754 can be coupled to alead 760 b, which can connect the second contact 754 to the rest of thecircuit. In various instances, a lead, such as the lead 760 a, forexample, can connect the first contact 752 to the rest of the circuit.

In various instances, the detection system 750 can include multiplepairs of contacts similar to the contacts 752, 754, for example. Forexample, a contact can be positioned on one or both sides of each key719. In certain instances, the detection system 750 can further includean electrical lead, such as leads 760 a, 760 b, 760 c, 760 d, forexample, which can extend to each lateral portion 728 a, 728 b, 728 c,728 d, respectively, for example. The leads 760 a, 760 b, 760 c, 760 dcan be configured to couple an electrical contact on each lateralportion 728 a, 728 b, 728 c, 728 d to the remainder of the circuit.

As the first contact 752 shifts relative to the second electricalcontact 754 when the end effector is articulated, referring still theFIG. 15, the detection system 750 can detect a change in capacitance.The variable length of ridges 762 and grooves 764 along the face 766 ofthe second contact 754 can affect a change in capacitance between thetwo contacts 752, 754. For example, the capacitance can be greatest whenthe first contact 752 is aligned with the longest ridge 762 of thesecond contact 754. In various instances, the first contact 752 can bealigned with the longest ridge 762 of the second contact 754 when theend effector 120 is unarticulated. As the end effector 120 isarticulated and the lateral portions shift, the first contact 752 canmove away from the longest ridge 762 and into alignment with a shorterridge 762. In such instances, the capacitance in the detection system750 can decrease as the end effector is articulated.

In certain instances, referring now to FIG. 16, the capacitance candiminish throughout the range of end effector articulation from anunarticulated orientation to an articulated orientation. Moreparticularly, the capacitance can diminish as the end effector isarticulated to the right from an unarticulated or less articulatedposition. Similarly, the capacitance can diminish as the end effector isarticulated to the left from the unarticulated or less articulatedposition. Moreover, as the end effector moves from an articulatedposition toward the unarticulated position, the capacitance canincrease.

In various instances, one or both of the contacts 752, 754 can define analternative geometry. In certain instances, the contacts 752, 754 cancomprise planar surfaces, which can shift into and/or out of alignmentas the end effector 120 is articulated. In such instances, the varyingalignment and/or overlap between the planar surfaces can correspond to achange in capacitance. For example, the capacitance can be greatest whenthe alignment between the planar contacts is the greatest. In otherinstances, one of the contacts 752, 754 can comprise a planar surface,for example.

In various instances, the detection system 750 can be in communicationwith a controller, which can be configured to detect the articulationangle of the end effector 120 based on feedback from the sensor 754.Additionally or alternatively, the controller can be configured toadjust the length of the firing stroke based on the detected staggerand/or offsets between the portions 728 a, 728 b, 728 c, 728 d, whichare used to calculate and/or estimate the degree in which the endeffector has been articulated. In such instances, the controller canadjust the firing stroke length such that the flexible firing bar 718reaches a predefined distal-most position in the end effector 120, i.e.,the same predefined distal-most position that the firing bar 718 reacheswhen the end effector 120 is in an unarticulated position. Theadjustment to the firing stroke length can depend on the degree in whichthe end effector 120 has been articulated and can be independent of thedirection of articulation. For example, when the end effector 120 hasbeen articulated x° to the right or x° to the left, the firing strokelength can be increased by a distance z.

In certain instances, a detection system can include at least one rotaryencoder, which can be configured to detect the linear travel of aflexible firing bar. A detection system 850 is depicted in FIG. 17. Thedetection system 850 includes rotary encoders 852 and 854. The rotaryencoders 852 and 854 are positioned adjacent to a flexible firing bar818. Similar to the flexible firing bar 118 (FIGS. 1-7), the flexiblefiring bar 818 is configured to transfer a firing motion from the firingrod 114, through the articulation joint 130 (FIGS. 1 and 2), and to theend effector 120 (FIG. 1) of the surgical instrument 100. The flexiblefiring bar 818 includes a plurality of lateral portions 828 a, 828 b,828 c, and 828 d which can shift relative to one another when the endeffector 120 is articulated such that the proximal ends of the lateralportions 828 a, 828 b, 828 c, and 828 d become staggered.

In various instances, the rotatory encoder(s) 852, 854 can be configuredto detect the linear displacement of the flexible firing bar 818 and/orportions 828 a, 828 b, 828 c, and 828 d thereof. For example, as the endeffector 120 articulates, at least one rotary encoder 852, 854 candetect the displacement of the flexible firing bar 818 during thearticulation motion.

In various instances, as depicted in FIG. 17, a rotary encoder 852, 854can be positioned on each side of the flexible firing bar 818, and candetect the displacement of the outside portions 828 a and 828 d. Forexample, the first rotary encoder 852 can detect the linear displacementof the fourth lateral portion 828 d, and the second rotary encoder 854can detect the linear displacement of the first lateral portion 828 a.Based on the difference between the linear displacement of the outsideportions 828 a, 828 d, the overall stagger between the lateral portionsof the firing bar 818 can be determined which can correspond to thedegree in which the end effector 120 has been articulated.

Additionally or alternatively, the detection system 850 can beconfigured to detect the linear displacement of the flexible firing bar818 during the firing stroke. The detection system 850 can be positionedat and/or near the distal portion of the shaft 110 and/or distal to thearticulation joint 130 (FIGS. 1 and 2), for example. In other instances,the detection system 850 can be positioned at and/or near the proximalportion of the shaft 110, for example and/or proximal to thearticulation joint 130.

In various instances, the rotary encoders 852, 854 can be configured toguide the flexible firing bar 818 when the end effector 120 isarticulated and/or when the firing bar 818 is advanced distally during afiring stroke. For example, the rotary encoders 852, 854 can seek toprevent and/or restrain bowing and/or buckling of the flexible firingbar 818. The rotary encoders 852, 854 are positioned on opposite sidesof the firing bar 818 and can apply a pinching force thereto whichinhibits relative lateral movement between the lateral portions of thefiring bar 818.

In various instances, the detection system 850 can be in communicationwith a controller which can be configured to detect the articulationangle of the end effector 120 based on feedback from the encoders 852,854. Additionally or alternatively, the controller can be configured toadjust the length of the firing stroke of the firing bar 818 based onthe detected stagger and/or offsets between the portions 828 a, 828 b,828 c, 828 d, which is used to calculate and/or estimate the degree inwhich the end effector 120 has been articulated. In such instances, thecontroller can adjust the firing stroke length such that the flexiblefiring bar 818 reaches a predefined distal-most position in the endeffector 120, i.e., the same predefined distal-most position that thefiring bar 818 reaches when the end effector 120 is in an unarticulatedposition.

In certain instances, a detection system can include a laser, forexample, which can be configured to detect shifting and/or staggering ofthe lateral portions of a flexible firing bar. Referring now to FIG. 18,a detection system 950 and a flexible firing bar 918 are depicted. Invarious instances, the flexible firing bar 918 can be coupled to afiring rod, such as the firing rod 114, for example, and used in thefiring system 112 of the surgical instrument 100 (FIG. 1), for example.As depicted in FIG. 18, the flexible firing bar 918 includes a pluralityof lateral portions, which shift relative to each other when the endeffector 120 (FIG. 1) is articulated.

As illustrated in FIG. 18, a plurality of apertures 956 are defined inthe lateral portions of the flexible firing bar 918. The apertures 956comprise circular apertures, for example, defined through the lateralportions. In other instances, the apertures can comprise an elongatedand/or polygonal geometry, for example. When the end effector 120 is inan unarticulated position, the apertures 956 in a lateral portion arealigned with the apertures 956 in the adjacent lateral portions. As thelateral portions of the flexible firing bar 918 shift relative to oneanother when the end effector 120 is articulated, the apertures 956defined through each lateral portion can shift. In various instances,the apertures 956 can shift into and/or out of alignment with theapertures 956 in the other lateral portions. In certain instances, theapertures 956 can be aligned when the end effector 120 is unarticulated,and can shift out of alignment during an articulation motion while, inother instances, the apertures 956 can be aligned when the end effector120 is fully articulated.

The detection system 950 depicted in FIG. 18 includes an optical laser952. The optical laser 952 can be coupled to an optical conduit or lightpipe 954, which can extend through the shaft 110, and may extend to thehandle of the surgical instrument 100, for example. In variousinstances, the optical laser 952 can be configured to generate a laserbeam and/or a plurality of laser beams. The detection system 950 canfurther comprise a receiver configured to detect the laser beam(s). Whenthe apertures 956 are aligned with each other, the laser beam(s) can betransmitted through the lateral portions without being blocked by thelateral portions. When the apertures 956 are only partially aligned withone another, the laser beam(s) may be partially blocked by the lateralportions. When the apertures 956 are not aligned with each other at all,the laser beam(s) can be completely blocked by the lateral portions. Thelaser signal received by the receiver can correspond to the shifting ofthe alignment of the apertures, which can correspond to the shifting ofthe lateral portions of the flexible firing bar 918.

In various instances, the detection system 950 can be in communicationwith a controller. The controller can be configured to detect thearticulation angle of the end effector 120 based on feedback from thedetection system 950. Additionally or alternatively, the controller canbe configured to adjust the length of the firing stroke based on thecalculated and/or estimated degree of end effector articulation based onthe detected stagger and/or offsets between the lateral portions. Insuch instances, the controller can adjust the firing stroke length suchthat the flexible firing bar 918 reaches a predefined distal-mostposition in the end effector 120, i.e., the same predefined distal-mostposition that the firing bar 918 reaches when the end effector 120 is inan unarticulated position.

With respect to the various detection systems disclosed herein, such asthe detection systems 250, 350, 550, 650, 750, 850, and 950 and band450, for example, a controller can be in communication with thedetection system and can adjust the firing stroke length based onfeedback from the detection system. For example, when the detectionsystem detects a degree of articulation of the end effector, the firingstroke length can be extended to account for the degree of articulation.In various instances, the greater the degree of end effectorarticulation detected by the detection system, the more the firingstroke length can be extended. The adjustment to the firing strokelength can depend on the articulation angle of the end effector and canbe independent of the direction of articulation. In various instances,the controller can include and/or communicate with a microprocessorhaving a lookup table. Such a lookup table can be integral to and/oraccessible by the microprocessor. The lookup table can be stored invirtual memory or physical memory, for example. The lookup table caninclude a firing stroke adjustment amount for specific articulationangles and/or for specific firing bar stagger amounts. For example, fora given amount of stagger between two lateral portions of a flexiblefiring bar, the lookup table can indicate a suitable firing strokeadjustment length.

As described herein, in certain instances, it can be desirable tomonitor the linear displacement of a flexible firing bar and/or theshifting of the lateral portions thereof to determine the degree inwhich the end effector has been articulated. Moreover, the firing strokelength of the firing bar can be adjusted to account for the changingposition of the flexible firing bar and/or the portions thereof when theend effector has been articulated. Additionally or alternatively, it canbe desirable to provide a relief feature that is configured to absorband/or otherwise account for changes in the firing stroke length. Such arelief feature can be positioned in the shaft and/or the end effector ofa surgical instrument, for example.

If the firing stroke length is not adjusted to account for thearticulation angle of the end effector, the flexible firing bar willextend farther distally for a given firing stroke length when the endeffector is unarticulated compared to when the end effector isarticulated. The distal-most position of the flexible firing bar duringa firing stroke will change as the articulation angle changes. Forexample, for a given firing stroke length, the flexible firing bar willstop at a more proximal distal-most position when the end effector isarticulated compared to when the end effector is unarticulated.Moreover, for a given firing stroke length, the flexible firing bar willstop at a more distal distal-most position when the end effector is lessarticulated compared to when the end effector is more articulated.

To ensure the flexible firing bar, staple-deploying sled, and/or cuttingedge at least reach their intended distal-most positions within the endeffector even when the end effector is fully articulated, the firingstroke length can be selected such that the flexible firing bar extendsto the desired distal-most position when the end effector is fullyarticulated. As a result, the flexible firing bar would extend distallypast the desired distal-most position when the end effector is partiallyarticulated or unarticulated. In such instances, the staple-deployingsled and/or other elements of the firing system may collide with thedistal end wall of the staple cartridge. To reduce the effect and/or atleast partially absorb the impact of the collision, a relief feature canengage the firing system.

In various instances, a relief feature can be placed in the shaft of asurgical instrument. For example, a relief feature can be positioned atthe coupling between a firing rod and a flexible firing bar. Such arelief feature can be configured to absorb and/or conform to changes inthe firing stroke length when an end effector of the surgical instrumentis moved to an articulated orientation. For example, the relief featurecan be comprised of a flexible, deformable and/or elastic material.

Referring now to FIG. 19, a deformable relief joint 1050 is depicted. Inthe depicted embodiment, a flexible firing bar 1018 is coupled to thefiring rod 114 at a coupling 1016 in the shaft 110 of the surgicalinstrument 100 (FIG. 1). Similar to the flexible firing bar 118 (see,e.g., FIGS. 1-7), the flexible firing bar 1018 is configured to transfera firing motion from the firing rod 114, through the articulation joint130 (FIGS. 1 and 2), and to the end effector 120 (FIG. 1).

In the depicted embodiment, the stroke compensation member or reliefjoint 1050 is positioned in the coupling 1016 intermediate the firingrod 114 and a proximal end portion 1040 of the flexible firing bar 1018.The relief joint 1050 can be configured to deform as the proximal end1040 of the flexible firing bar 1018 is pushed and/or displacedproximally. For example, the proximal end 1040 of the flexible firingbar 1018 and/or portions thereof can be shifted proximally when the endeffector 120 is articulated. As the flexible firing bar 1018 movesproximally, the proximal end 1040 can compress the relief joint 1050.

In various instances, the relief joint 1050 can be comprised of aflexible, deformable, and/or elastic material. For example, the reliefjoint 1050 can be comprised of a material having a lower durometerhardness than the flexible firing bar 1018 and/or the proximal end 1040thereof. Additionally or alternatively, the relief joint 1050 can becomprised of a material having a lower durometer hardness than thefiring rod 114.

Referring primarily to FIG. 19, the relief joint 1050 includes a taperedreceptacle 1052, which can be configured to receive the proximal end1040 of the flexible firing bar 1018. The tapered receptacle 1052 candefine a conical shape, for example. In such instances, the taperedreceptacle 1052 can taper from a wider opening in the distal region ofthe receptacle 1052 to a narrower opening at an intermediate region inthe receptacle 1052. The receptacle 1052 can be closed at the proximalregion thereof. In certain instances, the tapered receptacle 1052 canact as a brake, which can initially slow and/or resist proximaldisplacement of the flexible firing bar 1018 (FIG. 20). Moreover, as thetapered receptacle 1052 is compressed by the firing bar 1018, thereceptacle 1052 can stop and/or prevent further proximal displacement ofthe flexible firing bar 1018 (FIG. 21).

In certain instances, the flexible firing bar 1018 can include aplurality of lateral portions 1028 a, 1028 b, 1028 c, and 1028 d.Referring to FIGS. 19-21, the lateral portions 1028 a, 1028 b, 1028 c,and 1028 d can be fixed and/or banded together, for example, at theproximal end 1040 of the flexible firing bar 1018. In such instances,the lateral portions 1028 a, 1028 b, 1028 c, and 1028 d can beconfigured to move together at the proximal end 1040 as depicted inFIGS. 19-21. In other instances, the lateral portions 1028 a, 1028 b,1028 c, and 1028 d can shift when the end effector 120 is articulatedsuch that the proximal ends of the lateral portions 1028 a, 1028 b, 1028c, and 1028 d become staggered. In such instances, the relief joint 1050can be configured to absorb and/or accommodate the staggereddisplacement of the lateral portions 1028 a, 1028 b, 1028 c, and 1028 d.

As described herein, in certain instances, the firing stroke can beadjusted and/or modified such that the flexible firing bar 1018 reachesa predefined distal-most position in the end effector 120 when the endeffector 120 is fully articulated. In certain instances, the firingstroke can be adjusted and/or modified regardless of the degree in whichthe end effector 120 has been articulated. In such instances, theflexible firing bar 1018 can be advanced distally beyond the predefineddistal-most position in the end effector 120 when the end effector 120is only partially articulated and/or unarticulated. Moreover, when theend effector 120 is only partially articulated and/or unarticulated, theflexible firing bar 1018 can drive a sled distally into abutting contactwith the distal end of the end effector 120 during a firing motion. Insuch instances, the relief joint 1010 can at least partially absorb theimpact of a collision between the sled and the distal end of the endeffector 120.

Further to the above, the relief joint 1050 can be comprised of anelastic material which can compress and/or deform to absorb and/oraccommodate proximal displacement of the flexible firing bar 1018. Incertain instances, the relief joint 1050 can comprise a spring and/orspring-like feature, for example. Additionally or alternatively, therelief joint 1050 can comprise a friction-slip feature, such as a clutchand/or damper, for example.

As discussed above, the relief joint 1050 can be positioned at theproximal end 1040 of the flexible firing bar 1018. Additionally oralternatively, a relief feature can be positioned at the distal end ofthe flexible firing bar 1018. For example, such a relief feature couldbe positioned between the distal end of the flexible firing bar 1018 anda sled and/or a firing member in the end effector 120 (FIG. 1).

Referring now to FIG. 22, a stroke adjustment member or relief feature1150 is depicted. The relief feature 1150 is positioned distal to adistal end 1140 of a flexible firing bar 1118. Similar to the flexiblefiring bar 118 (FIGS. 1-7), the flexible firing bar 1118 can beconfigured to transfer a firing motion from the firing rod 114 (see,e.g., FIGS. 1 and 3), through the articulation joint 130 (FIGS. 1 and2), and to an end effector, such as the end effector 1120, for example.The distal end 1140 of the flexible firing bar 1118 is depicted in FIG.22, which is coupled to a firing member 1154, for example.

Referring still to FIG. 22, the firing member 1154 is configured toslide and/or move along at least a portion of a longitudinal slot 1152defined in a staple cartridge 1122. The firing member 1154 includes acutting edge 1156 which is configured to sever tissue clamped againstthe staple cartridge 1122 by an anvil of the end effector 1120. During afiring stroke, distal displacement of the flexible firing bar 1118 candrive the cutting member 1154 distally in order to cut tissue.

Referring still to FIG. 22, a sled or staple-deployment wedge 1158 canbe movably positioned in the staple cartridge 1122. For example, thesled 1158 can include an intermediate portion 1159 that is configured toslide along at least a portion of the longitudinal slot 1152. In variousinstances, the sled 1158 can further include a plurality of drivingwedges, which can be configured to engage staples and/or staples driversto eject the staples from the staple cavities 1126, and move the staplestoward the anvil of the end effector 1120.

The relief feature 1150 is positioned intermediate the firing member1154 and the sled 1158. In at least one instance, the relief feature1150 can be coupled to the sled 1158 by a tongue-and-groove engagement.As depicted in FIG. 22, the relief feature 1150 includes a tongue 1162and the sled 1158 includes a groove 1164 that is configured to receiveand hold the tongue 1162. For example, the tongue 1162 can befriction-fit and/or otherwise retained in the groove 1164.

In certain instances, the relief feature 1150 can be integrally formedwith the sled 1158. In various instances, the relief feature 1150 can beinitially positioned at the proximal end of the staple cartridge 1122,and can be driven distally as the firing member 1154 advances the sled1158 during a firing stroke, for example. In some instances, the firingmember 1154 can drive the relief feature 1150 into engagement with thesled 1154 during the firing stroke. In certain instances, the relieffeature 1150 can be coupled to the firing member 1154, for example. Inother instances, the relief feature 1150 can be freely movable in thelongitudinal slot 1152. For example, the relief feature 1150 can bepositioned between the firing member 1154 and the sled 1158, however,the relief feature 1150 may not be coupled to either the firing member1154 or the sled 1158, for example.

In various instances, the relief feature 1150 can be comprised of aflexible, deformable, and/or elastic material. For example, the relieffeature 1150 can be comprised of a material having a lower durometerhardness than the firing member 1154 and/or the sled 1158. In suchinstances, the relief feature 1150 can be configured to at leastpartially absorb and/or accommodate distal translation and/ordisplacement of the firing member 1154. For example, the relief feature1150 can act as a soft stop and/or brake. In such instances, the relieffeature 1150 can initially slow and/or resist distal displacement of thefiring member 1154. Moreover, if the firing member 1154 continues to beadvanced distally, the relief feature 1150 can stop and/or preventfurther distal displacement of the firing member 1154. As describedherein, in various instances, the flexible firing bar 1118 can beadvanced distally beyond the predefined distal-most position in the endeffector 120 when the end effector 120 is only partially articulatedand/or unarticulated. Moreover, when the end effector 120 is onlypartially articulated and/or unarticulated, the flexible firing bar 1118can drive the sled 1158 distally into abutting contact with the distalend of the end effector 120 during a firing motion. In such instances,the relief feature 1150 can at least partially absorb the impact of acollision between the sled 1158 and the distal end of the end effector120.

Referring still to the embodiment depicted in FIG. 22, the relieffeature 1150 includes a tapered receptacle 1166, which can be configuredto receive the distal end of the firing member 1154. In variousinstances, the tapered receptacle 1166 can define a pointed and/ornarrowing shape. For example, the tapered receptacle 1166 can taper froma wider opening in the proximal region of the receptacle 1166 to anarrower opening at an intermediate region in the receptacle 1166. Thedistal region of the receptacle 1166 can be closed. In certaininstances, the tapered receptacle 1166 can act as a brake, which caninitially slow and/or resist distal displacement of the firing member1154, and may ultimately stop and/or prevent further distal displacementof the firing member 1154, for example.

In various instances, the staple cartridge 1122 can comprise a tissuestop 1160 which can be aligned with the cutting edge 1156 of the firingmember 1154. In various instances, the cutting edge 1156 can beconfigured to engage the cutting stop 1160, and can facilitate reliefand/or absorption of energy during a firing stroke. In certaininstances, the tissue stop 1160 can extend from the deck 1124 andoverlie and/or obstruct at least a portion of the longitudinal slot1152. In certain instances, the tissue stop 1160 can be comprised of aflexible, deformable, and/or elastic material. Additionally oralternatively, the tissue stop 1160 can be frangible. In still otherinstances, the tissue stop 1160 can act like a hard stop to preventfurther distal displacement of the cutting edge 1156. The entiredisclosure of U.S. patent application Ser. No. 14/512,637, entitledSTAPLE CARTRIDGE, which was filed on Oct. 13, 2014, now U.S. Pat. No.10,076,325, is incorporated by reference herein.

In certain instances, a firing bar stop can be incorporated into an endeffector and/or a shaft of a surgical instrument. The firing bar stopcan be configured to limit travel of a firing bar during a firingstroke. For example, a firing bar stop can include a catch or lockoutpositioned in the end effector and/or shaft that is structured andpositioned to engage the flexible firing bar during the firing stroke.Such a lockout can engage the firing bar during a portion of the firingstroke to restrain and/or prevent further distal travel of the firingbar. In certain instances, the firing bar stop can be configured toshift relative to the shaft and/or the end effector when the endeffector is moved to an articulated orientation relative to the shaft.The shifted position of the firing bar can depend on the degree in whichthe end effector has been articulated. As a result, the firing bar stopcan engage and restrain the flexible firing bar at different positionsrelative to the shaft, and the position can be based on the degree inwhich the end effector has been articulated.

A firing bar stop 1658 is depicted in a surgical instrument 1600illustrated in FIGS. 49-53. The surgical instrument 1600 can be similarin many respects to the surgical instrument 100 (FIG. 1). The surgicalinstrument 1600 includes an end effector 1620 rotatably coupled to ashaft 1610 about an articulation joint 1630. A staple cartridge 1622(FIG. 49) can be positioned in the end effector 1620. During a firingstroke, a flexible firing bar 1618 is configured to move within theshaft 1610, the articulation joint 1630, and the end effector 1620 toadvance a firing member 1654 (FIG. 49) distally. The firing member 1654includes a cutting edge 1656 (FIG. 49). In certain instances, the firingmember 1654 can advance a staple-deployment sled, which can fire staplesfrom the staple cartridge 1622 and can move the staples into formingcontact with an anvil 1624 (FIGS. 49, 51, and 53) of the end effector1620.

For a given firing stroke length, the flexible firing bar 1618 willextend farther distally when the end effector 1620 is unarticulatedcompared to when the end effector 1620 is articulated, as describedherein. Moreover, the distal-most position of the flexible firing bar1618 will change as the articulation angle changes. Stated differently,for a given firing stroke length, the flexible firing bar 1618 will stopat a more proximal distal-most position when the end effector 1620 isarticulated compared to when the end effector 1620 is unarticulated.Additionally, for a given firing stroke length, the flexible firing bar1618 will stop at a more distal distal-most position when the endeffector 1620 is less articulated compared to when the end effector 1620is more articulated.

To ensure that the flexible firing bar 1618, staple-deploying sled,and/or cutting edge 1656 (FIG. 49) at least reach their intendeddistal-most positions within the end effector 1620 when the end effector1620 is articulated, the firing stroke length can be selected such thatthe flexible firing bar 1618 travels distally to the desired distal-mostposition when the end effector 1620 is fully articulated. In suchinstances, to prevent the staple-deploying sled and/or other elements ofthe firing system from colliding with the distal end wall of the staplecartridge 1622 when the end effector 1620 is less than fullyarticulated, a firing bar stop, such as the firing bar stop 1658, forexample, can be employed.

The firing bar stop 1658 can be configured to engage the flexible firingbar 1618 to restrain further distal displacement of the firing bar 1618during a firing stroke. In certain instances, the firing bar stop 1658can engage the flexible firing bar 1618 during a distal portion of thefiring stoke. The firing bar stop 1658 can be configured to shift basedon the degree in which the end effector 1620 is articulated. In otherwords, the firing bar stop 1658 can engage the flexible firing bar 1618during different portions of the firing stroke depending on the degreein which the end effector 1620 has been articulated. The firing bar stop1658 can form a relief member which accommodates for an overstroke ofthe flexible firing bar.

The firing bar stop 1658 can be configured to account for the change indistance to the desired distal-most position in the end effector 1620.More particularly, the firing bar stop 1658 can be configured to engageand restrain the flexible firing bar 1618 at a more distal position whenthe end effector 1620 is unarticulated, and can be configured to engageand restrain the flexible firing bar 1618 at a more proximal positionwhen the end effector 1620 is articulated. In various instances, thefiring stroke length can be selected such that the flexible firing bar1618 reaches the desired distal-most positioned when the end effector1620 is fully articulated. In such instances, the firing bar stop 1658can be configured to prevent the staple-deploying sled and/or otherelements of the firing system from colliding with the distal end wall ofthe staple cartridge 1622 when the end effector 1620 is less than fullyarticulated.

The firing bar stop 1658 depicted in FIGS. 49-53 includes a shiftablerestraint 1660 and a catch 1662 on the flexible firing bar 1618. Thecatch 1662 defines a notch in the flexible firing bar 1618, and theshiftable restraint 1660 is configured to engage the catch 1662 during aportion of the firing stroke. For example, the shiftable restraint 1660can move into abutting contact with the notch 1662 in the flexiblefiring bar 1618 as the flexible firing bar 1618 translates during thefiring stroke. Abutment of the catch 1662 and the shiftable restraint1660 is configured to prevent further distal displacement of theflexible firing bar 1618.

The firing bar stop 1658 also includes a plate 1670 engaged with theshiftable restraint 1660. The plate 1670 can define a geometry such thatarticulation of the plate 1670 is configured to shift the shiftablerestraint 1660. For example, the plate 1670 includes a pair of lobes1672 and a recess 1674 between the lobes 1672. The plate 1670 can beconfigured to move with the end effector 1620. Referring primarily toFIGS. 50 and 52, the plate 1620 can be secured to the end effector 1620by at least one pin 1676, for example. As the end effector 1620 is movedto an articulated orientation relative to the shaft 1610, the plate 1670can rotate with the end effector 1620. As a result, the plate 1670 canrotate relative to the shiftable restraint 1660 positioned within theshaft 1610 of the surgical instrument 1600.

When the end effector 1620 is in an unarticulated positioned (FIGS.49-51), the recess 1764 of the plate 1670 can engage the shiftablerestraint 1670. As a result, the shiftable restraint 1670 can bepositioned in a distal position relative to the shaft 1610. A spring1664 in the shaft 1610 can be configured to bias the shiftable restraintinto the distal position. Moreover, when the end effector 1620 has beenarticulated and the plate 1670 has been rotated (FIGS. 52 and 53), alobe 1672 of the plate 1670 can engage the shiftable restraint 1660. Insuch instances, the shiftable restraint 1660 can be positioned in a moreproximal position relative to the shaft 1610. The spring 1664 isconfigured to deform to accommodate proximal shifting of the shiftablerestraint 1660. As the end effector 1620 continues to articulate, theshiftable restraint 1660 can continue to shift proximally and the spring1664 can be further compressed, for example. As the degree in which theend effector is articulated increases, the lobe 1672 of the plate 1670can push the shiftable restraint 1660 farther in the proximal direction.In such instances, the position of the shiftable restraint 1660 candepend on the degree in which the end effector 1620 has beenarticulated.

When the shiftable restraint 1660 is in the distal position (FIGS.49-51), the flexible firing bar 1618 can travel farther distally withinthe end effector 1620 before the catch 1662 moves into abutting contactwith the shiftable restraint 1660. In various instances, the distalposition of the shiftable restraint 1660 can be selected such that theflexible firing bar 1618 reaches the desired distal-most position in theend effector 1620 and avoids an end-of-stroke collision with the distalend of the staple cartridge 1622, for example. Moreover, when theshiftable restraint 1660 has been moved to a more proximal position(FIGS. 52 and 53), the catch 1662 can move into abutting contact withthe shiftable restraint 1660 at a more proximal position. In variousinstances, proximal position(s) of the shiftable restraint 1660 can beselected based on the degree in which the end effector 1620 has beenarticulated such that the flexible firing bar 1618 reaches the desireddistal-most position in the end effector 1620 when the end effector 1620is in an articulated orientation. In the proximal position(s), theshiftable restraint 1660 can engage the catch 1663 and limit furtherdistal displacement of the flexible firing bar 1618 before anend-of-stroke collision with the distal end of the staple cartridge1622.

Referring now to FIG. 23, a fastener cartridge 1222 having a relieffeature 1250 is depicted. The fastener cartridge 1222 can be similar inmany respects to the fastener cartridge 122 (FIG. 1). For example, thefastener cartridge 1222 can be structured and dimensioned to replace thefastener cartridge 122 (FIG. 1) in the end effector 120 (FIG. 1). Incertain instances, the fastener cartridge 1222 can include a cartridgebody and a plurality of cavities can be defined in the cartridge body.Additionally, a plurality of fasteners, such as staples, for example,can be ejectably positioned in the cavities. The fastener cartridge 1222is removably positioned in a cartridge channel 1282 which supports thefastener cartridge 1222 in the jaw of the end effector 120. The channel1282 includes a longitudinal slot 1284 defined therein.

A firing member, such as the firing member 1154 (FIG. 22), for example,can be configured to traverse at least a portion of the longitudinalslot 1284 in the fastener cartridge 1222 to drive a sled orstaple-deployment wedge, such as the sled 1158 (FIG. 22), for example.During a firing stroke, the firing member 1154 can fire fasteners fromthe fastener cartridge 1222 via the sled 1158 and/or drivers, forexample, and can sever tissue adjacent to the cartridge 1222. Referringstill to FIG. 23, the firing member can include a base or foot 1280. Invarious instances, the foot 1280 can be positioned to slide and/or movein a wider and/or t-shaped portion of the longitudinal slot 1284, forexample.

In various instances, a soft stop or relief member 1250 can bepositioned at least partially within and/or across the longitudinal slot1284. For example, the relief member 1250 can block and/or obstruct adistal portion of the longitudinal slot 1284. In certain instances, thepathway of the foot 1280 of the firing member can be blocked by therelief member 1250. The relief member 1250 can be attached and/orintegrally formed with the channel 1282, for example. In certaininstances, the relief member 1250 can be welded and/or fastened to thechannel 1282.

In various instances, the relief member 1250 can form a bridge acrossthe longitudinal slot 1284. Referring to FIG. 23, the relief member 1250includes a pair of arms 1251 and a central portion 1253. The arms 1251are secured to the channel 1282 on opposite sides of the longitudinalslot 1284. Additionally, the central portion 1253 extends between thearms 1251, and at least a portion of the central portion 1253 ispositioned in the longitudinal slot 1284.

The relief member 1250 depicted in FIG. 23 can be comprised of aflexible, deformable, and/or elastic material. For example, the relieffeature 1250 can be comprised of a material having a lower durometerhardness than the foot 1280 and/or the channel 1282. In such instances,the relief feature 1250 can be configured to at least partially absorband/or accommodate distal translation and/or displacement of the foot1280 past the proximal edge of the relief feature 1250. For example, therelief feature 1250 can act as a soft stop and/or brake. In suchinstances, the relief feature 1250 can initially slow and/or resistdistal displacement of the base 1280. Moreover, if the base 1280continues to be advanced distally, the relief feature 1250 can stopand/or prevent further distal displacement of the firing member 1154.

Additionally or alternatively, the relief feature 1250 can be frangible.For example, the relief feature 1250 can be designed and/or structuredto break when the base 1280 is advanced distally into and/or past therelief feature 1250. In certain instances, the relief feature 1250 canslow and/or absorb at least a portion of the force of the foot 1280prior to breaking.

As described herein, stroke length relief features in a staplecartridge, end effector and/or shaft of a surgical instrument can beconfigured to deform, compress, and/or break to absorb at least aportion of the firing force and/or to stop further advancement of thefiring member during a firing stroke. In other instances, a relieffeature can include a predefined pathway, channel and/or opening in thestaple cartridge. Such a relief feature can accommodate an overstroke ofthe firing member. An overstroke of the firing member can occur when thefiring stroke of the firing member is not adjusted to account for thedegree in which the end effector 120 has been articulated, for example.

Referring now to FIG. 24, a fastener cartridge 1322 including a relieffeature 1350 is depicted. In many respects, the fastener cartridge 1322can be similar to the fastener cartridge 122 (FIG. 1). For example, thefastener cartridge 1322 can be structured and dimensioned to replace thefastener cartridge 122 (FIG. 1) in the end effector 120 (FIG. 1). Incertain instances, the fastener cartridge 1322 can include a cartridgebody 1324 and a plurality of cavities 1326 can be defined in thecartridge body 1324. Additionally, a plurality of fasteners, such asstaples, for example, can be ejectably positioned in the cavities 1326.

A firing member, such as the firing member 1154 (FIG. 22), for example,can be configured to traverse at least a portion of the cartridge body1324 to drive a sled or staple-deployment wedge 1358, for example. Sucha firing member can also include a base or foot, such as foot 1380, forexample. During a firing stroke, the firing member can fire fastenersfrom the fastener cartridge 1322 via the sled 1358 and/or drivers, forexample, and can sever tissue adjacent to the cartridge 1322.

The relief feature 1350 depicted in FIG. 24 includes an opening 1352defined through the distal end of the cartridge 1322. For example, theopening 1352 can form a distal aperture through the distal wall of thestaple cartridge 1322. In the depicted embodiment, the relief feature1350 includes a plurality of openings 1352. The openings 1352 extendthrough the distal end of the cartridge 1322 and provide a pathwayand/or clearance for at least a portion of the sled 1358 to protrudethrough the distal end. For example, when the end effector 120 (FIG. 1)is partially articulated or unarticulated, the sled 1358 can be advanceddistally into abutting contact with the distal end of the cartridge1322. To permit continued distal travel of the sled 1358, the openings1352 can be sized and dimensioned to receive the distal-most portion(s)of the sled 1358.

As described herein, the articulation of an end effector can affect thefiring path of a flexible firing bar in the shaft and/or the endeffector of a surgical instrument. Moreover, the articulation of an endeffector can change the distal-most position of a firing element duringa firing stroke. In various instances, a controller can adjust thefiring stroke length of the firing bar such that the firing element isstopped at the same spot regardless of the articulation angle of the endeffector. In other instances, an end effector and/or firing system caninclude a relief member configured to absorb and/or accommodate changesin the distal-most position of the firing element.

In various instances, the firing stroke, e.g., the distance traveled bythe firing rod 114 (see, e.g., FIGS. 1 and 3), can be selected such thatthe staple-deploying sled 1358 still reaches the distal end of thestaple cartridge 1322 even when the end effector 120 (FIG. 1) is fullyarticulated. In such instances, the sled 1358 can continue to translatedistally and fire staples from the distal-most staple cavities 1326. Asa result, the firing stroke can extend beyond the distal end of thestaple cartridge 1322 when the end effector 120 is less than fullyarticulated, e.g., partially articulated and/or unarticulated. Without arelief feature, such as the apertures 1352, for example, the sled 1358would collide with the distal end of the staple cartridge 1322. Therelief feature can prevent and/or minimize damage to elements of thefiring system and/or a motor, for example, when the end effector is lessthan fully articulated.

In certain instances, the distal-most position of the firing element maybe shifted proximally when the end effector is in an articulatedorientation. For example, a component of the firing system, such as aflexible firing bar, for example, may be inclined to bow outward whenthe end effector is in an articulated orientation. In such instances,outward bowing of the flexible firing beam may shift the distal-mostposition of the firing element proximally, thereby resulting in a needfor a longer firing stroke of the firing bar when the end effector hasbeen articulated.

A fastener cartridge 1422 is depicted in FIG. 25. The fastener cartridge1422 can be similar to the fastener cartridge 122 (FIG. 1) in manyrespects. For example, the fastener cartridge 1422 can be structured anddimensioned to replace the fastener cartridge 122 (FIG. 1) in the endeffector 120 (FIG. 1). In certain instances, the fastener cartridge 1422can include a cartridge body and a plurality of cavities can be definedin the cartridge body. Additionally, a plurality of fasteners, such asstaples, for example, can be ejectably positioned in the cavities. Thefastener cartridge 1422 depicted in FIG. 25 further includes an elongatechannel 1482 positioned at least partially around the cartridge body.The depicted channel 1482 includes a longitudinal slot 1484 extending atleast partially therethrough.

Referring still to FIG. 25, a flexible firing bar 1418 can be configuredto transfer a firing motion to a firing member, such as the firingmember 1154 (FIG. 22), for example. The flexible firing bar 1418 can beconfigured to traverse at least a portion of the longitudinal slot 1484in the fastener cartridge 1422 to drive a firing element, such as thefiring member 1154, for example, and/or a staple-deployment sled, suchas the sled 1158 (FIG. 22), for example. During a firing stroke, thefiring member can fire fasteners from the fastener cartridge 1422 viathe sled and/or drivers, for example, and can sever tissue adjacent tothe cartridge 1422.

In the depicted embodiment of FIG. 25, the firing member includes a baseor foot 1480. In various instances, the foot 1480 can be configured toslide and/or move along at least a portion of the longitudinal slot1484. In various instances, the longitudinal slot 1484 can be t-shapedand/or can have a wider portion adjacent to the outer surface of thechannel 1482. In certain instances, the engagement between the foot 1480and slot 1484 can be configured to guide and/or hold the firing elementin the end effector.

The depicted fastener cartridge 1422 includes a distal stop 1450.Referring to the embodiment depicted in FIG. 25, the distal stop 1450 ispositioned at the distal end of the longitudinal slot 1484. For example,the distal end of the longitudinal slot 1484 can form the distal stop1450. In various instances, the distal stop 1450 can restrain and/orprevent further distal displacement of the foot 1480 in the staplecartridge 1422 and, thus, restrain and/or prevent further distaldisplacement of the firing member in the staple cartridge 1422.

Referring to the embodiment depicted in FIG. 25, the distal stop 1450includes a stepped profile at the distal end of the longitudinal slot1484. For example, the depicted distal stop 1450 includes a plurality ofsteps, including a first step 1451, a second step 1452, and a third step1453. The steps 1451, 1452, 1452 of the distal stop 1450 are positionedand structured to receive and/or restrain the foot 1480 of the firingmember when the end effector is oriented at different degrees ofarticulation. For example, for a given firing stroke, the firing membermay stop at different end-of-stroke positions within the staplecartridge, depending on the degree in which the end effector has beenarticulated. For instance, the firing bar will travel further into thestaple cartridge for a given firing stroke when the end effector isunarticulated as compared to when the end effector is articulated. Thefoot 1480 can be driven distally to the first step 1451 when the endeffector is unarticulated, which is the distal-most step. Accordingly,the foot 1480 can be permitted to translate to the distal-most positionwhen the end effector is unarticulated. Referring still to FIG. 25, whenthe end effector is unarticulated, the flexible firing bar 1418 can bealigned with the longitudinal slot 1484 and the first step 1451, whichcan be centrally-positioned in the distal stop 1450. In such instances,the flexible firing bar 1418 can extend along a longitudinal path whichresults in shortest distance between the proximal end of the staplecartridge and the distal-most position of the foot 1480.

Referring now to the staple cartridge 1422′ depicted in FIG. 25, whichcorresponds to the staple cartridge 1422 when the end effector is in anarticulated orientation, the articulation of the end effector 120(FIG. 1) can affect bowing and/or bending of the flexible firing bar1418. In such instances, the flexible firing bar 1418 begins its firingstroke further away from the distal end of the staple cartridge ascompared to when the end effector is in an unarticulated orientation.Additionally or alternatively, the firing element and foot 1480 thereofcan be biased laterally outboard and/or away from the centerline of thestaple cartridge 1422. Because the distance to the distal-most step 1451is altered when the end effector is articulated and/or the flexiblefiring bar 1418 bows and/or bends, the foot 1480 may not extend as fardistally in the staple cartridge 1422′ during a firing stroke ascompared to when the end effector 120 has not been articulated.

Referring still to the staple cartridge 1422′, the foot 1480 can extenddistally to the third step 1453 which is positioned proximal to thefirst step 1451, when the end effector has been articulated. The thirdstep 1453 is the proximal-most step. Accordingly, when the end effectoris articulated, translation of the foot 1480 can be stopped and/orotherwise restrained at a more proximal position than when the endeffector 120 (FIGS. 1 and 2) is in an unarticulated orientation.Additionally or alternatively, the step(s) associated with thearticulated orientation(s) of the end effector, e.g., the second step1452 and the third step 1453, can be positioned laterally outboardand/or away from the centerline of the staple cartridge 1422.

In the depicted embodiment, the foot 1480 is restrained by theproximal-most step 1453 when the end effector is articulated 75°, forexample. In other instances, the foot 1480 may be restrained by theproximal-most step 1453 when the end effector is articulated less thanor more than 75°. Moreover, in other instances, the distal stop 1450 caninclude a suitable number of steps. In some instances, the distal stop1450 can include two steps, for example.

In certain instances, the distal stop 1450 can comprise a hard stop,which can abruptly brake and/or stop the distal progression of the foot1480. In other instances, a hard stop can be proximal to thearticulation joint as disclosed in U.S. Pat. No. 7,658,311, entitledSURGICAL STAPLING INSTRUMENT WITH A GEARED RETURN MECHANISM, whichissued on Feb. 9, 2010, the entire disclosure of which is herebyincorporated by reference herein. In still other instances, the distalstop 1450 can comprise a soft stop, which can initially slow the distalprogression of the foot 1480 and may ultimately stop the distalprogression of the foot 1480. In at least one instance, the distal stop1450 can be comprised of a flexible, deformable, and/or elasticmaterial. Additionally or alternatively, the distal stop 1450 can befrangible and can be configured to break when a predefined force isapplied thereto, for example.

As described herein, the articulation of a surgical end effector canaffect the distal-most position of a flexible firing bar, a cuttingelement, and/or a wedge sled, for example. In certain instances, whenthe end effector is moved to an articulated orientation, the flexiblefiring bar, the cutting element, and/or the wedge sled can stop at aposition that is proximal to the distal-most position when the endeffector is unarticulated. In such instances, the arc and/or curvatureof the flexible firing bar and firing path thereof can effectivelyshorten the firing stroke. In certain instances, as discussed above, thefiring stroke length can be adjusted to take into account thearticulation of the end effector. In some instances, the surgicalinstrument can include a relief feature that is configured to absorband/or other accommodate at least a portion of the firing stroke.

In still other instances, the firing path of the flexible firing bar canbe adjusted to account for the articulation of the end effector andeffective change in the firing stroke length. For example, the flexiblefiring bar can be biased and/or guided along a firing path that definesa shorter distance to the distal-most position in the end effector. Incertain instances, the adjusted firing path can inhibit and/or resistoutward bowing of the flexible firing bar and/or can urge inwardshifting and/or bending of the flexible firing bar, for example.

Referring now to FIGS. 26 and 27, a surgical instrument 1500 isdepicted. Similar to the surgical instrument 100, the surgicalinstrument 1500 includes an end effector 1520 that is configured toclamp, fasten, and/or incise tissue. The surgical instrument 1500 alsoincludes a shaft 1510 and an articulation joint 1530 positionedintermediate the shaft 1510 and the end effector 1520. Similar to theflexible firing bar 118, a flexible firing bar 1518 can receive a firingmotion from a firing rod, such as the firing rod 114 (FIGS. 1 and 3-5),for example, and transfer the firing motion to the end effector 1520.The flexible firing bar 118 can be operably coupled to a cuttingelement, such as the firing member 1154 and the cutting edge 1156 (FIG.22), for example, and/or can drive a wedge sled, such as the sled 1158(FIG. 22), for example.

In various instances, the shaft 1510 can include an attachment portion1512, which is rotatably and/or pivotably connected to the end effector1520. For example, referring still to FIGS. 26 and 27, the attachmentportion 1512 can be coupled to the proximal end of an elongate channelthat is structured and dimensioned to receive a fastener cartridge. Theend effector 1520 can be configured to articulate relative to the shaft1510 about the attachment portion 1512. For example, the elongatechannel can move and/or pivot on the attachment portion 1512 of theshaft 1510.

A firing path modifier or shifter 1550 is also depicted in FIGS. 26 and27. The firing path modifier 1550 can be configured to adjust the firingpath of the flexible firing bar 1518. In the depicted embodiment, thefiring path modifier 1550 is positioned in the articulation joint 1530.The firing path modifier 1550 includes an arcuate or arched slot 1552and a yoke or linked pin assembly 1554. Referring still to FIGS. 26 and27, the yoke 1554 includes a first pin or end 1556 and a second pin orend 1558, which are positioned in the arcuate slot 1552. The pins 1556and 1558 are separated by a fixed distance. In various instances, theyoke 1554 can move relative to the arcuate slot 1552. For example, thepins 1556, 1558 can move, slide, and/or float within the slot 1552.

Referring still to FIGS. 26 and 27, a portion of the flexible firing bar1518 can be positioned between the first pin 1556 and the second pin1558. In such instances, the yoke 1554 can guide the flexible firing bar1518. Moreover, because movement of the yoke 1554 is restrained by thearcuate slot 1552, the shifter 1550 can adjust the firing path and/orbias the flexible firing bar 1518 toward a modified firing path.

When the end effector 1550 is unarticulated as depicted in FIG. 26, theflexible firing bar 1518 can extend along a firing path that iscollinear with the longitudinal axis L of the shaft 1510 and the endeffector 1520. In such instances, the geometry of the arcuate slot 1552can be configured to maintain the longitudinal alignment of the firingpath and the longitudinal axis L. An inflection point of the arced slot1152 can be aligned with the longitudinal axis L wherein the first pin1556 is positioned in the slot 1152 on a first side of the longitudinalaxis L and the second pin 1558 is positioned in the slot 1152 on asecond side of the longitudinal axis L. As a result, the yoke 1554 canguide and/or maintain the flexible firing bar 1518 into alignment withthe longitudinal axis L.

When the end effector 1520 is moved to an articulated orientationrelative to the shaft 1510, referring now to FIG. 27, the shifter 1550can shift and/or bias the flexible firing bar 1518 along a shorterfiring path. The yoke 1554 can shift laterally in the arcuate slot 1552.For example, the flexible firing bar 1518 can pull the yoke 1554 inwardas the flexible firing bar 1518 bends. Additionally, the yoke 1554 canguide the flexible firing bar 1518 because the yoke 1554 is restrainedby the slot 1552. As depicted in FIG. 27, the yoke 1554 can shift out ofalignment with the longitudinal axis L₁ of the shaft 1510. In suchinstances, the firing path can be modified such that the inner corner orturn of the firing path at the articulation point is replaced with amore direct and/or chamfered path. Because the shifter 1550 effectivelyshortens the firing path, the effect on the end-of-stroke position ofthe flexible firing bar 1518 as a result of the degree in which the endeffector 1520 has been articulated can be reduced. Stated differently,the shifter 1550 can at least partially negate the effective change infiring stroke length due to an articulation motion.

Referring primarily to FIG. 27, when the end effector is articulated,the yoke 1554 can shift laterally in the arcuate slot 1552. Though theflexible firing bar 1518 can experience a torque and/or outward bowingforce, the shifter 1550 can resist the torque and/or outward bowingforce. For example, the bearing load on the sidewalls of the arcuateslot 1552 can generate a frictional force which can resist torqueingand/or bowing of the flexible firing bar 1518.

An end effector assembly 3100 is depicted in FIGS. 28-30. The endeffector assembly 3100 comprises a first jaw 3110 and a second jaw 3120.The first jaw 3110 comprises a staple cartridge 3112 including aplurality of staples removably stored therein. The plurality of staplesare deployed from the staple cartridge 3112 by a firing assembly 3150.The second jaw 3120 comprises an anvil 3122 configured to deform thestaples when they are ejected from the staple cartridge 3112. The firingassembly 3150 is configured to travel between a proximal end 3101 of theend effector and a distal end 3102. The firing assembly 3150 comprises asled 3151 configured to deploy the staples, a cutting member 3152configured to incise tissue during the longitudinal progression of thefiring assembly 3150, and a firing member 3153 configured to push thesled 3151 and/or the cutting member 3152 distally through the endeffector assembly 3100. The firing member 3153 is configured to slidewithin a longitudinal slot 3111 defined in the staple cartridge 3112.The sled 3151, cutting member 3152, and/or firing member 3153 caninclude a first cam 3158 configured to engage the first jaw 3110 and asecond cam 3159 configured to engage the second jaw 3120 as the firingassembly 3150 is advanced distally. The first cam 3158 and the secondcam 3159 can co-operate to position the anvil 3122 relative to thestaple cartridge 3112 and define a tissue gap therebetween. The firingmember 3153 can be actuated by a surgical instrument assembly which cancomprise a handle actuatable by a clinician and/or a roboticallyoperated actuator, for example.

Various embodiments discussed herein utilize changes in electricalresistance, capacitance, and/or inductance within an electrical circuitto determine the location of a firing assembly within an end effector.By sensing the change in electrical resistance within a circuit thatoccurs due to the movement of the firing assembly through the endeffector, for example, the position of the firing assembly can bedetermined. Referring to FIG. 27, the end effector assembly 3100comprises a plurality of resistive elements 3105. The resistive elements3105 are arranged longitudinally within the first jaw 3110. Theresistive elements 3105 are positioned in the longitudinal slot 3111defined in the staple cartridge 3112; however, the resistive elements3105 can be arranged in any suitable manner in which the firing assembly3150 can contact the resistive elements 3105. The resistive elements3105 are arranged in parallel circuit segments in a firing progressdetection circuit. In at least one instance, each resistive element 3105is in communication with a first common electrical path which is incommunication with a microprocessor of the firing progress detectioncircuit. In various instances, the first common electrical path canextend through the staple cartridge 3112, for example. As described ingreater detail further below, the electrical firing progress detectioncircuit is completed, or at least partially completed, by the firingassembly 3150 as the firing assembly 3150 is advanced distally.

Portions of the firing assembly 3150 can be conductive for the purposeof providing a second electrical path between the resistive elements3105 and the microprocessor of the firing progress detection circuit. Inat least one such instance, the second electrical path can extendthrough the firing member 3153, for example. In other instances, thesecond electrical path can extend through the second jaw 3120. As thefiring assembly 3150 progresses through the end effector 3100 toward thedistal end 3102, the parallel circuit segments including the resistiveelements 3105 are sequentially closed by the firing assembly 3150 and,as a result, the resistive elements 3105 are sequentially added to theelectrical path experienced by the firing assembly 3150. When theresistive elements 3105 are added to the electrical path created by thefiring assembly 3150, the electrical resistance of the firing progressdetection circuit increases. This change in electrical resistance can bedetected by measuring the resistance and/or voltage drop between thefirst electrical path and the second electrical path. The resistancemeasured can be related to the distance traveled by the firing assembly3150. The resistance of the firing progress detection circuit willincrease as the firing assembly 3150 is advanced distally.Correspondingly, the resistance of the firing progress detection circuitwill decrease as the firing member 3150 is retracted proximally.

The resistive elements 3105 provide discrete increases in resistance tothe firing progress detection circuit when the parallel circuit segmentsincluding the resistive elements 3105 are contacted and closed by thefiring assembly 3150. In various instances, further to the above, aparallel circuit segment can remain closed as the firing assembly 3150is advanced distally. Thus, a first parallel circuit segment can beclosed by the firing assembly 3150 and remain closed as the firingassembly 3150 closes a second parallel circuit segment and a thirdparallel circuit segment and so forth. The closure of the parallelcircuit segments can demark waypoints during the firing progression ofthe firing member. The combination of the closed parallel circuitsegments can provide the firing progress detection circuit with a uniqueand identifiable resistance that corresponds to a specific position, orrange of positions, of the firing assembly 3150. In other instances, aparallel circuit segment can be closed by the firing assembly 3150 andthen re-opened as the firing assembly 3150 is advanced distally thereby.Such an arrangement can provide a momentary pulse to the microprocessorindicating that the firing assembly 3150 has reached a waypoint. In atleast one such instance, the parallel circuit segments can each havedifferent resistances thereby providing the firing progress detectioncircuit with a unique and identifiable resistance that corresponds to aspecific position, or range of positions, of the firing assembly 3150.For instance, a first parallel circuit segment can have a firstresistance and a second parallel circuit segment can have a secondresistance which is different than the first resistance, and so forth.

In addition to the resistive elements 3105, or as an alternative, thefiring progress detection circuit can include a potentiometer, forexample, configured to track the firing progress of the firing assembly3150. In such instances, the resistance of the firing progress detectioncircuit can increase continuously as the firing member 3150 is advanceddistally. Correspondingly, the resistance of the firing progressdetection circuit can decrease continuously as the firing member 3150 isretracted proximally. A continuous change in resistance can be providedby a longitudinal resistive member positioned within the first jaw 3110and/or the second jaw 3120. The firing assembly 3150 is configured tocontact the longitudinal resistive member along the length of the endeffector 3100. The resistance experienced by the firing assembly mayvary linearly as the firing assembly 3150 progresses through the endeffector 3100. As the firing member 3153 progresses distally, the totallength of the resistive member in contact with the firing assembly 3150increases. The increase in length changes the electrical resistance ofthe firing progress detection circuit which can be detected andevaluated by the microprocessor. In various instances, measuring thechange in resistance of the firing progress detection circuit canprovide position, velocity, and/or acceleration feedback of the firingassembly 3150.

Referring to FIG. 30, an elongate channel 3160 of the first jaw 3110 isconfigured to support a staple cartridge, such as the staple cartridge3122, for example, in accordance with various embodiments. The elongatechannel 3160 comprises a slot 3161 configured to at least partiallyreceive the firing member assembly 3150 discussed above. The slot 3160comprises a distal end 3162. The distal end 3162 of the slot 3160 canreceive the firing member assembly 3150 when the firing member assembly3150 reaches its end of stroke position. Once the firing member assembly3150 reaches the distal end 3162 of the slot 3161, the firing memberassembly 3150 may bottom out.

Further to the above, the surgical instrument can comprise a controlsystem including a microprocessor configured to detect when the firingmember assembly 3150 has bottomed out in the end effector 3100. In atleast one instance, the firing member assembly 3150 can be driven by anelectric motor and the microprocessor can be configured to monitor thepower draw of the electric motor. In at least one such instance, themicroprocessor can monitor the current drawn by the electric motor, forexample. When the control system detects an increase in the power drawnby the electric motor sufficient to indicate that the firing memberassembly 3150 has bottomed out, the control system can interrupt thepower supply to the electric motor and/or reverse the polarity of thevoltage applied to the firing member assembly 3150. In addition to or inlieu of the above, the end effector assembly 3100 can include a sensor,such as sensor 3106, for example, which can detect when the firingmember assembly 3150 has reached the end of its firing stroke. Thesensor 3106 can comprise a proximity sensor and/or a Hall Effect sensor,for example. In any event, the control system can include means forgenerating haptic feedback in the handle of the surgical instrument toindicate to the user of the surgical instrument that the firing memberassembly 3150 has reached the end of its firing stroke. In variousinstances, the haptic feedback can be generated by an electric motorcomprising an imbalanced rotor, for example. By positioning the bottomout location 3162 distal to the articulation joint 3130, the furthestposition that the firing assembly 3150 may travel is linked to thedistal end 3102 of the end effector 3100, regardless of the angle inwhich the articulation joint 3130 is articulated.

An end effector assembly 3200 is depicted in FIGS. 31-33. The endeffector assembly 3200 comprises a first jaw 3210 and a second jaw 3220.The first jaw 3210 comprises a staple cartridge 3212 including aplurality of staples removably stored therein. The plurality of staplescan be deployed from the staple cartridge 3212 by a firing assembly3250. The second jaw 3220 comprises an anvil 3222 configured to deformthe staples when they are ejected from the staple cartridge 3212. Thefiring assembly 3250 is configured to travel between a proximal end 3201of the end effector and a distal end 3202. The firing assembly 3250comprises a sled 3251 configured to deploy the staples, a cutting member3252 configured to incise tissue during the longitudinal progression ofthe firing assembly 3250, and a firing member 3253 configured to pushthe sled 3251 and/or the cutting member 3252 distally through the endeffector assembly 3200. The firing member 3253 can be actuated by ahandle actuatable by a clinician and/or a robotically operated actuator,for example.

The end effector assembly 3200 further comprises a distal sensor 3224 band a proximal sensor 3254 a. The distal sensor 3224 b is configured todetect the position of the second jaw 3220 and/or the position of thefiring assembly 3250. The proximal sensor 3254 a is configured to detectthe position of the firing assembly 3250. The distal sensor 3224 b andthe proximal sensor 3254 a comprise Hall Effect sensors, for example.The distal sensor 3224 b is positioned at the distal end 3202 of the endeffector 3200 on the second jaw 3220. The proximal sensor 3254 a ispositioned on the firing assembly 3250 and is configured to travelbetween the proximal end 3201 of the end effector 3200 and the distalend 3202 in conjunction with the firing assembly 3250. The staplecartridge 3212 further comprises a distal detectable element 3214 b anda proximal detectable element 3214 a. The detectable elements 3214 a,3214 b may be at least partially comprised of a ferrous material, forexample. In various instances, the detectable elements 3214 a, 3214 bcan comprise permanent magnets and/or electromagnets, for example. Inany event, the detectable elements 3214 a, 3214 b are detectable by thesensors 3254 a, 3224 b. The proximal detectable element 3214 a ispositioned within the staple cartridge 3212 at the proximal end 3201 ofthe end effector 3200, for example. The distal detectable element 3214 bis positioned within the staple cartridge 3212 at the distal end 3202 ofthe end effector 3200, for example.

When the staple cartridge 3212 is positioned in the end effector 3200,the detectable elements 3214 a, 3214 b of the staple cartridge 3212 mayprovide the sensors 3254 a, 3224 b of the surgical instrument with aninitial signal configuration. The initial signal configuration may becommunicated to a microprocessor of the surgical instrument controlsystem immediately following the installation of the staple cartridge3212 into the end effector 3200. In various instances, the surgicalinstrument can include a cartridge presence sensor configured to detectwhether a staple cartridge has been positioned in the end effector 3200.The cartridge presence sensor is also in signal communication with themicroprocessor of the control system. When the microprocessor determinesthat a staple cartridge is not positioned in the end effector 3200, themicroprocessor may not perform a signal evaluation of the sensors 3254a, 3224 b, and when the microprocessor determines that a staplecartridge is positioned in the end effector 3200, the microprocessor canperform an initial signal evaluation of the sensors 3254 a, 3224 b.

As part of performing an initial signal evaluation of the sensors 3254a, 3224 b, the microprocessor can identify the type of staple cartridge3212 positioned in the end effector 3200. More specifically, each typeof staple cartridge that can be used with the end effector 3200 cancomprise a unique arrangement of the detectable elements 3214 a and/or3214 b which can create a unique magnetic field array which isdetectable by the sensors 3254 a and/or 3224 b and identifiable by themicroprocessor of the control system. For example, the detectableelement 3214 a may generate a first magnetic field intensity for a firsttype of staple cartridge and a second magnetic field intensity for asecond type of staple cartridge, and so forth, which can be detected bythe sensor 3254 a during the initial evaluation of the sensor signals.In various instances, the firing system 3250 can be held in apredetermined, or datum, position during the initial evaluation of thesensor signals such that the staple cartridge positioned in the endeffector 3200 can be reliably identified. In any event, themicroprocessor can access a lookup table and, using the value of themagnetic field intensity detected during the initial signal evaluation,determine the correct operating program for the surgical instrument toproperly fire the staple cartridge positioned in the end effector 3200.The lookup table can be stored in virtual memory and/or physical memory.Such memory may be accessible by and/or integral with themicroprocessor.

The position of the second jaw 3220 can be monitored to determine if thesecond jaw 3220 is in a position to deform the staples when the staplesare ejected from the staple cartridge 3212. The distal detectableelement 3214 b is positioned such that the signal detected by the distalsensor 3224 b is related to the position of the second jaw 3220 relativeto the first jaw 3210. Stated another way, the distance between thedistal sensor 3224 b and the distal detectable element 3214 b affectsthe magnitude of the magnetic field detected by the distal sensor 3224b. When the second jaw 3220 is in an open position, the distal sensor3224 b will detect a first intensity of the magnetic field produced bythe distal detectable element 3214 b. When the second jaw 3220 is in afully-closed position, the distal sensor 3224 b will detect a secondintensity of the magnetic field produced by the distal detectableelement 3214 b. As the reader will appreciate, the second intensitydetected by the distal sensor 3224 b is larger than the first fieldintensity because the distal sensor 3224 b is closer to the distaldetectable element 3214 b when the second jaw 3220 is in itsfully-closed position.

Further to the above, the intensity of the magnetic field detected bythe distal sensor 3224 b can be utilized by the microprocessor todetermine the position of the second jaw 3220 relative to the first jaw3210. If the microprocessor determines that the second jaw 3220 has notbeen sufficiently closed to properly form the staples when they areejected from the staple cartridge 3212, the microprocessor can preventthe distal advancement of the firing system 3250. In at least one suchinstance, the microprocessor may not permit power to be supplied to theelectric motor configured to drive the firing system 3250. If themicroprocessor determines that the second jaw 3220 has been sufficientlyclosed to properly form the staples when they are ejected from thestaple cartridge 3212, the microprocessor can advance the firing system3250 distally when commanded to do so by a firing actuator operated bythe user of the surgical instrument, for example. In various instances,the microprocessor may prevent the firing system 3250 from beingadvanced distally when the magnetic field intensity detected by thedistal sensor 3224 b is in a first range and, correspondingly, permitthe firing system 3250 to be advanced distally when the magnetic fieldintensity detected by the distal sensor 3224 b is in a second range.

In addition to or in lieu of the above, the position of the firingsystem 3250 can be monitored by the proximal sensor 3254 a and/or thedistal sensor 3224 b as the firing system 3250 progresses from theproximal end 3201 of the end effector 3200 to the distal end 3202. Whenthe firing system 3250 is in its unfired position, referring to FIG. 31,the proximal sensor 3254 a is positioned adjacent to, but proximallywith respect to, the proximal detectable element 3214 a. In such aposition, the proximal sensor 3254 a can detect a first magnetic fieldcreated by the proximal detectable element 3214 a. As the firing system3250 is moved distally, the firing system 3250 moves closer to theproximal detectable element 3214 a and, as a result, the magnitude ofthe first magnetic field detected by the proximal sensor 3254 aincreases. Once the firing system 3250 passes the proximal detectableelement 3214 a, referring to FIG. 32, the magnitude of the firstmagnetic field detected by the proximal sensor 3254 a decreases. Invarious instances, the proximal sensor 3254 a and the proximaldetectable element 3214 a can be aligned along a longitudinal axis andthe magnitude of the first magnetic field detected by the proximalsensor 3254 a is inversely proportional to the square of the distancebetween the proximal sensor 3254 a and the proximal detectable element3214 a. In at least one such instance, the proximal detectable element3214 a can be aligned with the path of the proximal sensor 3254 a. Inother instances, the proximal detectable element 3214 a can be offsetwith respect to the path of the proximal sensor 3254 a.

As discussed above, the proximal sensor 3254 a is in signalcommunication with a microprocessor of the surgical instrument controlsystem. Further to the above, the microprocessor can access anotherlookup table and, using the value of the first magnetic field intensitydetected by the proximal sensor 3254 a, assess the position of thefiring system 3250 positioned in the end effector 3200. Similar to theabove, the lookup table can be stored in virtual memory and/or physicalmemory. Such memory may be accessible by and/or integral with themicroprocessor. In at least one instance, the lookup table can comprisean array of magnetic field values which are arranged in a sequentialorder which corresponds to the distal progression of the firing system3250. The microprocessor can compare the magnitude of the first magneticfield intensity detected by the proximal sensor 3254 a and compare thatvalue to the array of values in the lookup table. In some instances, themicroprocessor can compare the current, or most-recently acquired, valueto the array in addition to comparing one or more previously-obtainedvalues to the array. The lookup table can further include an array ofposition values which is linked to the array of magnetic field intensityvalues and can indicate the position of the firing system 3250 to themicroprocessor.

As the firing system 3250 is advanced distally, referring to FIG. 33 thefiring system 3250 can approach the distal detectable element 3214 b.Similar to the above, the proximal sensor 3254 a can detect a secondmagnetic field created by the distal detectable element 3214 b. As thefiring system 3250 is moved distally, the firing system 3250 movescloser to the distal detectable element 3214 b and, as a result, themagnitude of the second magnetic field detected by the proximal sensor3254 a increases. The distal detectable element 3214 b is positioneddistally with respect to the proximal sensor 3254 a throughout thefiring stroke of the firing system 3250. In other embodiments, theproximal sensor 3254 a can pass the distal detectable element 3214 bduring the firing stroke of the firing system 3250. When the firingsystem 3250 passes the distal detectable element 3214 b, in suchcircumstances, the magnitude of the second magnetic field detected bythe proximal sensor 3254 a decreases. In various instances, the proximalsensor 3254 a and the distal detectable element 3214 b can be alignedalong a longitudinal axis and the magnitude of the second magnetic fielddetected by the proximal sensor 3254 a is inversely proportional to thesquare of the distance between the proximal sensor 3254 a and the distaldetectable element 3214 b. In at least one such instance, the distaldetectable element 3214 b can be aligned with the path of the proximalsensor 3254 a. In other instances, the distal detectable element 3214 bcan be offset with respect to the path of the proximal sensor 3254 a.

As outlined above, the proximal sensor 3254 a can be configured todetect the magnetic field generated by the proximal detectable element3214 a to determine the position of the firing system 3250.Alternatively, the proximal sensor 3254 a can be configured to detectthe magnetic field generated by the distal detectable element 3214 b todetermine the position of the firing system 3250. Such alternatives arepossible when only one of the detectable elements 3214 a, 3214 b areemitting a magnetic field during the firing stroke of the firing system3250. In at least one such embodiment, at least one of the detectableelements 3214 a, 3214 b can comprise an electromagnet which can bedeactivated during the firing stroke of the firing system 3250 such thatthe electromagnet is no longer producing a sufficiently detectablemagnetic field. In various instances, however, both detectable elements3214 a, 3214 b produce a magnetic field during the firing stroke of thefiring system 3250, especially when the detectable elements 3214 a, 3214b comprise permanent magnets, for example. In such instances, theproximal sensor 3254 a may detect the first magnetic field produced bythe proximal detectable element 3214 a and the second magnetic fieldproduced by the distal detectable element 3214 b at the same time. Thus,the overall magnetic field detected by the proximal sensor 3254 a fromthe first magnetic field and the second magnetic field can be evaluatedand compared to an array of magnetic field values that takes thecombined magnetic field into account.

An end effector assembly 3300 is depicted in FIGS. 34-41. The endeffector assembly 3300 comprises a first jaw 3310 and a second jaw 3320.The first jaw 3310 comprises a staple cartridge 3312 which includes aplurality of staples removably stored therein. The plurality of staplescan be deployed from the staple cartridge 3312 by a firing assembly3350. The second jaw 3320 comprises an anvil 3322 configured to deformthe staples when they are ejected from the staple cartridge 3312. Thefiring assembly 3350 is configured to travel between a proximal end 3301of the end effector and a distal end 3302. The firing assembly 3350comprises a sled 3351 configured to deploy the staples, a cutting member3352 configured to incise tissue during the longitudinal progression ofthe firing assembly 3350, and a firing member 3253 configured to pushthe sled 3351 and/or the cutting member 3352 distally through the endeffector assembly 3300. The firing member 3353 can be actuated by asurgical instrument assembly comprising a shaft 3340 and an articulationjoint 3330 which is configured to permit the end effector assembly 3300to be articulated relative to the shaft 3340. The firing member 3353 ispositioned in the shaft 3340 such that, when the firing member 3353 isactuated, the firing member 3353 travels longitudinally within the shaft3340 to fire the staples in the staple cartridge 3312. Further to theabove, the firing member 3353 can extend through the articulation joint3330 and can bend within the articulation joint 3330 when the endeffector 3300 is articulated. The surgical instrument assembly canfurther comprise a handle actuatable by a clinician and/or a roboticallyoperated actuator, for example, to move the firing member 3353 relativeto the end effector 3300.

The proximal end of the end effector 3300 comprises a channel retainer3360. The channel retainer 3360, shown in FIG. 35, comprises a drivepost 3365 extending therefrom which can be pushed distally and/or pulledproximally by an articulation actuator 3366 to articulate the endeffector 3300 about the articulation joint 3330. The channel retainer3360 comprises a plurality of sensors, such as a first sensor 3368 a anda second sensor 3368 b, for example. The sensors 3368 a, 3368 b arepositioned distally with respect to the articulation joint 3330 in afiring member slot 3331 defined in the channel retainer 3360. The firingmember 3353 is slidably positioned in the firing member slot 3331.Referring primarily to FIG. 34, the firing member 3353 comprises aplurality of features 3356 a, 3357 a, 3356 b, 3357 b, 3356 c, 3357 c,3356 d, and 3357 d which are arranged in a staggered orientationcomprising a first row 3355 a of features 3356 a-3356 d offset from asecond row 3355 b of features 3357 a-3357 d. The first row 3355 a offeatures 3356 a-d is configured to be sensed by the first sensor 3368 a.The second row 3355 b of features 3357 a-d is configured to be sensed bythe second sensor 3368 b. As the firing member 3353 moves distallythrough the channel retainer 3360 and the end effector 3300, the firstsensor 3368 a and the second sensor 3368 b can sense the features 3356a-d and 3357 a-d, respectively. As described in greater detail furtherbelow, the signals generated by the sensors 3368 a, 3368 b correspondwith the position of the firing member 3353.

The sensors 3368 a, 3368 b are in signal communication with amicroprocessor of the surgical instrument control system which isconfigured to receive and interpret the signals generated by the sensors3368 a, 3368 b. The first sensor 3368 a can transmit a first signal tothe microprocessor. The first signal can comprise a series of pulseswhich corresponds to the sensor 3368 a sensing the features 3356 a-d.For example, the first sensor 3368 a can transmit a high voltagepotential across a first circuit in communication with an input channelof the microprocessor when the first sensor 3368 a detects a feature3356 a-d positioned adjacent the first sensor 3368 a and a low voltagepotential across the first circuit when the first sensor 3368 a does notdetect a feature 3356 a-d adjacent the first sensor 3368 a. Similarly,the second sensor 3368 a can transmit a high voltage potential across asecond circuit in communication with an input channel of themicroprocessor when the second sensor 3368 b detects a feature 3357 a-dpositioned adjacent the second sensor 3368 b and a low voltage potentialacross the second circuit when the second sensor 3368 b does not detecta feature 3357 a-d adjacent the second sensor 3368 b. The microprocessorcan count the pulses sent by the sensors indicating that a feature haspassed a sensor and, based on that count, assess the position of thefiring member 3353 during its firing stroke. In certain instances, themicroprocessor can maintain a first count of the features 3356 a-d thathave passed the first sensor 3368 a and a separate, second, count of thefeatures 3356 a-d that have passed the second sensor 3368 b. In otherinstances, the microprocessor can maintain a combined count of thefeatures 3356 a-d and 3357 a-d that have been sensed. In either event,the microprocessor can count the features 3356 a-d and 3357 a-d thathave passed by the sensors 3368 a and 3368 b to determine whether thefiring member 3353 has reached the end of its stroke.

In various instances, only one set of features 3356 a-d and 3357 a-d andone sensor 3368 a and 3368 b may be needed to determine the position ofthe firing member 3353. A single set of features may provide themicroprocessor with an array of data which can be linked to anotherarray of data which corresponds to the position of the firing member3353. Utilizing a plurality of feature sets and sensors, however,provides the microprocessor with a matrix of data which can be linked toan array of data which corresponds to the position of the firing member3353. Such a matrix of data is illustrated in FIG. 39.

The features 3356 a-d and 3357 a-d can comprise any suitable featureswhich can be detected by the sensors 3368 a and 3368 b, respectively. Invarious instances, the features 3356 a-d and 3357 a-d can comprisemagnetic elements and the sensors 3368 a and 3368 b can comprise HallEffect sensors which can detect the magnetic elements, for example. Incertain instances, the features 3356 a-d and 3357 a-d can comprisereflective elements and the sensors 3368 a and 3368 b can each comprisea signal emitter and receiver, for example. In at least one instance,the features 3356 a-d and 3357 a-d can comprise through holes. In atleast one such instance, the sensors 3368 a and 3368 b can compriseoptical sensors configured to detect a change in the color and/orreflectivity of the firing member 3353 as the features 3356 a-d and 3357a-d pass by the sensors 3368 a and 3368 b, respectively. In certaininstances, the sensors 3368 a and 3368 b can be configured to detectlaser signals emitted from the opposite side of the firing member 3353,for example. In any event, the features 3356 a-d can be positioned atregular intervals along the first row 3355 a, for example. Similarly,the features 3357 a-d can be positioned at regular intervals along thesecond row 3355 b, for example. The microprocessor can be configured toevaluate the rate in which the features 3356 a-d and/or the features3357 a-d are detected by the first sensor 3368 a and the second sensor3368 b, respectively. In such instances, the microprocessor can alsoevaluate the speed, velocity and/or acceleration of the firing member3353.

When the features 3356 a-d and 3357 a-d of the firing member 3353comprise through holes, the through holes can comprise any suitablegeometry, such as a circular geometry, for example. Turning now to FIG.40, a firing member 3453 comprises an array of detectable features 3459arranged along a longitudinal axis of the firing member 3453. In atleast one instance, the detectable features 3459 comprise square throughholes, for example. In certain instances, the detectable features 3459comprise textured surfaces on the firing member 3453. In at least onesuch instance, the textured surfaces are square, for example.

FIG. 41 illustrates an alternative firing member 3553 of a firingassembly 3550 comprising teeth, or serrations, 3558 extending therefromfor use with an end effector assembly 3500. The teeth 3558 are arrangedalong a longitudinal axis of the firing member 3553 and gaps are presentintermediate the teeth 3558. A sensor 3535 mounted to the end effector3500 is configured to detect the teeth 3558 and/or the gaps between theteeth 3558 as the firing member 3353 is advanced distally. In at leastone instance, the sensor 3535 can comprise an optical sensor, forexample. The sensor 3535 is in signal communication with amicroprocessor of a surgical instrument system. The sensor 3535 sendssignals and/or signal pulses triggered by the teeth 3558 and/or the gapspositioned intermediate the teeth 3558 to indicate the position of thefiring member 3553 as the firing assembly 3550 travels through the endeffector 3500. The firing member 3353 can comprise a set, orpredetermined, number of teeth 3558 which may trigger the sensor 3535 tosend a set, or predetermined, number of signal pulses to themicroprocessor to indicate the progression of the firing assembly 3550.The microprocessor can count the signal pulses that it receives from thesensor 3535 and compare the counted signal pulses to the predeterminednumber of pulses to assess whether the firing member 3553 has reachedthe end of stroke position and/or assess the distance that the firingmember 3553 must travel before reaching its end of stroke position. Thecontroller may count the teeth 3558 between the distal-most tooth 3558 dwhich provides the microprocessor with the first signal pulse and theproximal-most tooth 3558 p which provides the microprocessor with thelast signal pulse. The end of stroke position may be detected once themicroprocessor recognizes that the number of teeth 3558 sensed by thesensor 3535 is equal to the number of teeth 3558 that are on the firingmember 3553.

An elongate channel 3610 is depicted in FIG. 42. The elongate channel3610 can be used in accordance with various embodiments disclosedherein. The elongate channel 3610 is configured to support a staplecartridge of an end effector. The channel 3610 comprises a first cavity3602 and a second cavity 3604 defined therein. The first cavity 3602 islocated at a proximal portion 3601 of the channel 3610 and the secondcavity 3604 is located at a distal portion 3603 of the channel 3610. Thefirst cavity 3602 is configured to support a first, or proximal, sensortherein and the second cavity 3604 is configured to support a second, ordistal, sensor therein. The sensors may be any suitable sensorconfigured to detect movement of a firing assembly. The proximal sensoris configured to detect whether the firing assembly is in its unfired,or unadvanced, position, for example. The distal sensor is configured todetect whether the firing assembly has reached the end of its firingstroke, for example.

FIG. 43 depicts a jaw 3710 for use with an end effector assembly 3700 ofa surgical stapling instrument. The jaw 3710 comprises a staplecartridge 3712 and a firing assembly 3750. The staple cartridge 3712comprises a longitudinal slot 3713 defined therein which is configuredto receive the firing assembly 3750. The firing assembly 3750 isconfigured to travel between a proximal end 3701 and a distal end 3702of the staple cartridge 3712. The firing assembly 3750 comprises acutting member 3752 which includes, one, a cutting edge configured toincise tissue and, two, an electrically conductive portion for thepurpose of providing an electrical path across the slot 3713, i.e., fromone lateral side of the slot 3713 to the other. The staple cartridge3712 comprises a conductive layer 3770 which is contacted by theconductive portion of the cutting member 3752 as the firing assembly3750 travels through the staple cartridge 3712. The layer 3770 comprisesa plurality of resistance regions, such as regions 3771, 3772, 3773, and3774, for example. In at least one such instance, the layer 3770 extendsalong both sides of the slot 3713. FIG. 41 depicts only one of the twosides of the layer 3770. As described in greater detail further below,the resistance of a circuit created between the layer 3770 and thecutting member 3752 as the firing assembly 3750 progresses through thestaple cartridge 3712 can be monitored and correlated with the positionof the firing assembly 3750.

In various instances, further to the above, each resistance region 3771,3772, 3773, and 3774 is comprised of an electrically-conductivematerial. In at least one such instance, the first resistance region3771 is comprised of a first electrically-conductive material, thesecond resistance region 3772 is comprised of a secondelectrically-conductive material, the third resistance region 3773 iscomprised of a third electrically-conductive material, and the fourthresistance region 3774 is comprised of a fourth electrically-conductivematerial. In various instances, the first material, the second material,the third material, and the fourth material are differentelectrically-conductive materials having different resistivities, forexample. In certain instances, the first material, the second material,the third material, and/or the fourth material can be comprised of thesame electrically-conductive material when the resistance regions havingthe same electrically-conductive material are not adjacent to eachother. In any event, the resistance regions 3771, 3772, 3773, and 3774are part of a firing progress detection circuit. The firing progressdetection circuit further comprises a first conductor in communicationwith a first side of the layer 3770 and a second conductor incommunication with a second side of the layer 3770. The first conductorand the second conductor are in communication with a microprocessorwhich can detect and evaluate the resistance of the firing progressdetection circuit, as described in greater detail further below.

The resistance regions 3771, 3772, 3773, and 3774 of the layer 3770 cancorrespond to different positions of the cutting member 3752 and,correspondingly, different positions of the firing assembly 3750. Thecutting member 3752 is movable through a firing stroke between aproximal, unadvanced position and a distal, fully-advanced position.When the cutting member 3752 is in its proximal, unadvanced position,the cutting member 3752 is in contact with the first resistance region3771. Such a position can be referred to as a ‘home’ position of thecutting member 3752. When the cutting member 3752 is in contact with thefirst resistance region 3771, the firing progress detection circuit canhave a first resistance which can be detected by the microprocessor. Insuch instances, the firing progress detection circuit can include thefirst conductor, the first side of the first resistance region 3771, thecutting member 3752, the second side of the first resistance region3771, and the second conductor. When the microprocessor detects that thefiring progress detection circuit has the first resistance, themicroprocessor can determine that the cutting member 3752 is in itsproximal-most position and that a full firing stroke is needed tocompletely fire the staples from the staple cartridge. While the firstresistance of the firing progress detection circuit may comprise aspecific first resistance, in various instances, it may also beinclusive of a first range of resistances.

When the cutting member 3752 is advanced distally from its homeposition, the cutting member 3752 can move out of contact with the firstresistance region 3771 and into contact with the second resistanceregion 3772. Such a position can be referred to as the ‘lockout’position of the cutting member 3752. The lockout position of the cuttingmember 3752 is the furthest distal position in which the cutting member3752 can be advanced if an unexpended staple cartridge is not positionedin the first jaw 3710. When the cutting member 3752 is in contact withthe second resistance region 3772, the firing progress detection circuitcan have a second resistance which can be detected by themicroprocessor. In such instances, the firing progress detection circuitcan include the first conductor, the first side of the second resistanceregion 3772, the cutting member 3752, the second side of the secondresistance region 3772, and the second conductor. When themicroprocessor detects that the firing progress detection circuit hasthe second resistance, the microprocessor can determine that the cuttingmember 3752 is in its lockout position and that the cutting member 3752may be blocked from being advanced distally if an unspent staplecartridge is not positioned in the first jaw 3710. In various instances,as a result, the microprocessor may operate an electric motor whichdrives the firing assembly 3750 distally at a reduced speed when movingthe cutting member 3752 distally from the second resistance region 3772to the third resistance region 3773 in the event that the cutting member3752 contacts the lockout. While the second resistance of the firingprogress detection circuit may comprise a specific second resistance, invarious instances, it may also be inclusive of a second range ofresistances.

When the cutting member 3752 is advanced distally from its lockoutposition, the cutting member 3752 can move out of contact with thesecond resistance region 3772 and into contact with the third resistanceregion 3773. The third resistance region 3773 corresponds to a range ofpositions in which the firing assembly 3750 is ejecting the staples fromthe staple cartridge 3712. When the cutting member 3752 is in contactwith the third resistance region 3773, the firing progress detectioncircuit can have a third resistance which can be detected by themicroprocessor. In such instances, the firing progress detection circuitcan include the first conductor, the first side of the third resistanceregion 3773, the cutting member 3752, the second side of the thirdresistance region 3773, and the second conductor. When themicroprocessor detects that the firing progress detection circuit hasthe third resistance, the microprocessor can determine that the firingassembly 3750 is firing the staples into tissue and that the cuttingmember 3752 is incising the tissue. In various instances, themicroprocessor may operate the electric motor which drives the firingassembly 3750 at a suitable speed as the cutting member 3752 movesthrough the third resistance region 3773. A suitable speed may comprisea constant speed, for example. In some instances, the cutting member3752 may be accelerated at the proximal end of the third resistanceregion 3773 and decelerated at the distal end of the third resistanceregion 3773, for example. While the third resistance of the firingprogress detection circuit may comprise a specific third resistance, invarious instances, it may also be inclusive of a third range ofresistances.

When the cutting member 3752 is advanced distally from its staple firingrange, the cutting member 3752 can move out of contact with the thirdresistance region 3773 and into contact with the fourth resistanceregion 3774. The fourth resistance region 3774 corresponds to thedistal-most, fully-fired position of the cutting member 3752. When thecutting member 3752 is in contact with the fourth resistance region3774, the firing progress detection circuit can have a fourth resistancewhich can be detected by the microprocessor. In such instances, thefiring progress detection circuit can include the first conductor, thefirst side of the fourth resistance region 3774, the cutting member3752, the second side of the fourth resistance region 3774, and thesecond conductor. When the microprocessor detects that the firingprogress detection circuit has the fourth resistance, the microprocessorcan determine that the firing assembly 3750 is at the end of its firingstroke. At such point, the microprocessor may stop the electric motorwhich drives the firing assembly 3750. In some instances, themicroprocessor may automatically reverse the direction of the electricmotor and retract the cutting member 3752. The sled 3251 may be left atthe distal end 3702 of the staple cartridge 3712 or retracted proximallywith the cutting member 3752. While the fourth resistance of the firingprogress detection circuit may comprise a specific fourth resistance, invarious instances, it may also be inclusive of a fourth range ofresistances.

Detecting the first, second, third, and fourth resistances can providereal time position detection of the firing assembly 3750. While fourresistance regions are utilized in the illustrated embodiment, anysuitable number of resistance regions may be utilized.

Means for detecting when a firing assembly has attained an end of strokeposition can also be located within a handle assembly of a surgicalstapling instrument. A handle assembly 4100 is depicted in FIG. 44. Thehandle assembly 4100 comprises a motor 4110 and a gear assembly 4130.Operably meshed with the gear assembly 4130 is a firing member 4150. Themotor 4110 may be actuated by a user-actuated firing actuator 4111 inorder to drive the gear assembly 4130 and consequently drive the firingmember 4150. The handle assembly 4100 also comprises a cavity 4121configured to house a sensor. The sensor can be configured to detect thepositon, velocity, and/or acceleration of the firing member 4150. Thefiring member 4150 comprises markings 4151. The markings 4151 may beprinted on the firing bar 4153, for example. Alternative embodimentspresent markings that are etched in the firing member 4150, for example.The firing member 4150 can be comprised of any suitable material, suchas plastic, fiberglass-filled plastic, stainless steel, and/or glass,for example. The sensor can be any suitable sensor configured to sensethe markings 4151 of the firing bar 4150. The markings 4151 may extendlongitudinally along the firing member 4150 in any suitable orientationon any suitable side thereof which can be detected by the sensorpositioned within the cavity 4121. The sensor can be positioned withinthe cavity 4121 to sense markings 4151 of the firing member 4150 as thefiring member 4150 travels longitudinally within the surgical staplinginstrument.

Another system in which the position, velocity and/or acceleration of afiring assembly may be detected can comprise audible and/or haptic meansconfigured to notify the user of the surgical instrument, with soundand/or vibration, the position, velocity and/or acceleration of thefiring member. Illustrated in FIGS. 45-46 is a partial view of a firingassembly 4200 for use with a surgical stapling instrument. Positioned atleast partially within a handle assembly of the instrument, the firingassembly 4200 is configured to fire a plurality of staples removablystored within an end effector, for example. The firing assembly 4200comprises a firing member 4250, a drive gear 4215, and a motor 4210. Themotor 4210 is mounted to a handle frame, or chassis, 4220. The motor4210 can be actuated by a user-actuated firing actuator of the surgicalinstrument in order to drive, or rotate, the drive gear 4215. The firingmember 4250 comprises a longitudinal array of drive teeth 4255 operablymeshed with the drive gear 4215. When driven by the motor 4210 in afirst direction, the drive gear 4215 drives the firing member 4250distally toward the end effector. The firing member 4250 furthercomprises a longitudinal array of haptic ribs, or teeth, 4251 configuredto engage a haptic spring 4256 mounted in the handle frame 4220. Anaudible click and/or vibration is made each time a haptic rib 4251strikes, deflects, and passes by the haptic spring 4256.

As the firing member 4250 is advanced distally, further to the above,the user of the surgical instrument can be audibly alerted, for example,of the status of the firing assembly 4250 as the haptic ribs 4251 engagethe haptic spring 4255. If the firing member 4250 is moving at aconstant speed, the rate in which the clicks are made will be constant.If the firing member 4250 is being accelerated, the rate in which theclicks are made will increase. If the firing member 4250 is beingdecelerated, the rate in which the clicks are made will decrease. Thehaptic ribs 4251 comprise a denser arrangement 4252 at the proximal end4257 of the firing member 4250 as compared to the haptic ribs 4251distal to the proximal end 4257. For a given speed of the firing member4250, the haptic ribs 4251 positioned at the proximal end 4257 of thefiring member 4250, i.e., ribs 4252, cause the audible alert created bythe haptic spring 4256 to be different than that of the alert created bythe haptic spring 4256 when the haptic spring 4256 engages the hapticribs 4251 distal to the proximal end 4257. In at least one suchinstance, the ribs 4252 quicken the rate of the clicking heard by and/orthe vibrations felt by the user. Upon hearing an increased rate of theclicking caused by the ribs 4252, for example, the user of the surgicalinstrument may understand that the firing member 4250 may beapproaching, or has arrived at, the end of stroke position. In suchinstances, the user may release the firing actuator which is driving theelectric motor 4210 to stop the firing member 4250. In the instanceswhere the firing actuator comprises a variable speed control over themotor 4210, the user can relax the pressure being applied to the firingactuator to slow the motor 4210 before releasing the firing actuator tostop the motor 4210. At such point, the firing member 4250 can beretracted proximally by operating the motor 4210 in a second, oropposite, direction.

As described above, a longitudinal array of ribs can include twoportions—a first portion that establishes a baseline of feedback and asecond portion which provides a departure in that feedback. Otherembodiments are envisioned which comprise a baseline feedback and morethan one additional feedback which departs from the baseline feedback.In various instances, a final feedback can comprise an accelerating rateof audible clicks and/or vibrations, for example, as the firing membergets closer to its end of stroke position, for example.

The audible clicks and/or vibrations, or haptic feedback, describedabove in connection with the embodiment of FIGS. 45 and 46 are generatedwithin and emanate from the handle of the surgical instrument. Inaddition to or in lieu of the above, audible clicks and/or vibrationscan be generated within and emanate from the shaft and/or end effectorof the surgical instrument. Turning now to FIG. 48, a cutting element4452 is configured to engage a longitudinal array of ribs positioned ina first jaw 4410 of an end effector 4400 as the cutting element 4456 isadvanced distally. Similar to the above, the ribs can indicate theposition of the cutting element 4452 by generating clicking soundsand/or vibrations as the cutting element 4452 passes thereby. Thelongitudinal array of ribs 4455 comprises a first portion 4455 whichcomprises ribs spaced a first distance apart, a second portion 4456which comprises ribs spaced a second distance apart, and a third portion4457 which comprises ribs a third distance apart. The second distance isshorter than the first distance and the third distance is shorter thanthe second distance, for example. The cutting element 4452 comprises ahaptic nodule 4454 extending therefrom which is configured to engage andslide across the ribs to generate a clicking sound and/or vibration foreach rib that the haptic nodule 4454 contacts. For a given speed of thecutting element 4452, the first portion 4455 will create clicks and/orvibrations at a first rate, the second portion 4456 will create clicksand/or vibrations at a second rate, and the third position 4457 willcreate clicks and/or vibrations at a third rate. The second rate isfaster than the first rate and the third rate is faster than the secondrate, for example. A user hearing an increase in the pace of the clicks,for example, would indicate to the user that the cutting element 4452 isreaching its end of stroke position. A user may respond to this feedbackby slowing down and/or stopping the cutting element 4452.

In FIG. 47, a partial view of a handle assembly is shown. The handleassembly 4300 comprises a drive assembly 4320 for use in conjunctionwith a clutch assembly 4330 configured to limit the amount of torquetransferred to a firing member 4350 of the drive assembly 4320. Thedrive assembly 4320 comprises an electric motor, a planetary gear train4331 operably coupled to an output shaft of the electric motor, a clutchshaft 4332, a clutch drive plate 4334, a release spring 4333, an outputshaft 4338, an output gear 4339, and a firing member 4350. The electricmotor drives the planetary gear train 4331 in order to rotate the clutchshaft 4332. It can also be appreciated that the clutch shaft 4332 may bedriven manually by a handcrank, for example. The clutch shaft 4332 iscoupled with the clutch drive plate 4334 such that the rotation of theclutch shaft 4332 is transferred to the clutch drive plate 4334. Moreparticularly, the clutch drive plate 4334 is keyed to the clutch shaft4332 such that the clutch drive plate 4334 is rotatable with the clutchshaft 4332; however, the clutch drive plate 4334 is slidable relative tothe clutch shaft 4322. As described in greater detail further below, theclutch drive plate 4334 comprises teeth 4336 configured to operablyengage and operably disengage from teeth 4337 on the output shaft 4338.When the teeth 4336 of the clutch drive plate 4334 are operably engagedwith the teeth 4337 of the output shaft 4338, the rotation of the clutchdrive plate 4334 is transferred to the output shaft 4338. The outputgear 4339 is coupled to the output shaft 4338 such that the rotation ofthe output shaft 4338, if any, is transferred to the output gear 4339.The output gear 4339 is operably engaged with the firing member 4350 inorder advance the firing member 4350 distally and/or retract the firingmember 4350 proximally, depending on the direction in which the outputgear 4339 is rotated.

Further to the above, the release spring 4333 biases the clutch driveplate 4334 into engagement with the output shaft 4338. Morespecifically, the release spring 4333 biases the teeth 4336 of theclutch drive plate 4334 into operative engagement with the teeth 4337 ofthe output shaft 4338. Owing to angled surfaces on the teeth 4336, 4337,the teeth 4336, 4337 may tend to push the clutch drive plate 4334 awayfrom the output shaft 4338 when a working load is transmittedtherebetween. The release spring 4333 can be designed to handle aparticular, or predetermined, working load applied between the clutchdrive plate 4334 and the output shaft 4338. Such a predetermined workingload is sufficient to operate the end effector of the surgicalinstrument under normal operating conditions. For example, thepredetermined working load is sufficient to fire and properly deform thestaples removably stored in a staple cartridge and incise the tissuebeing stapled. In the event that the firing member 4350 becomes jammed,for example, the motor may attempt to transmit a larger working loadthan the predetermined working load through the clutch assembly. In suchinstances, the release spring 4333 may be overcome and the clutch driveplate 4334 may be pushed out of engagement with the output shaft 4338.At such point, the clutch drive plate 4334 may rotate relative to theoutput shaft 4338 without transferring, or at least substantiallytransferring, relative rotational movement therebetween.

When the firing member 4350 has reached the end of its firing stroke,further to the above, the firing member 4350 may abut a distal end ofthe staple cartridge, for example. In such circumstances, the distal endof the staple cartridge will stop the advancement of the firing member4350 and, similar to the above, the teeth 4336 of the clutch drive plate4334 will slip relative to the teeth 4337 of the output shaft 4338and/or de-mesh as a result of the increased torque being transmittedfrom the electric motor to the clutch drive plate 4334 in an attempt toadvance the firing member 4350 further distally. The force of therelease spring 4333 applied to the clutch drive plate 4334 is not greatenough to keep the teeth 4336 of the clutch drive plate 4334 and theteeth 4337 of the output shaft 4338 engaged to drive the output gear4339. When the electric motor is operated in an opposite direction, forexample, the torque being transmitted into the clutch interface which iscausing the clutch to slip will be released and the teeth 4336 will beremeshed with the teeth 4337 in order to retract the firing member 4350proximally.

Another embodiment can comprise a sensor positioned within a firingassembly configured to sense force experienced by the firing assembly asthe firing assembly reaches a distal end of an end effector. At thedistal end of an end effector, a stop may be configured to arrest thedistal movement of the firing member assembly. The stop may be designedto provide a known resistive force profile in which a controller of thesurgical instrument can detect and/or measure to notify a user that thefiring assembly is at the end of stroke position. Different forceprofiles will occur depending on the design of the stop. The stop may bebreakable and designed with a discontinuity ensuring material failureopen arrival of the firing assembly at the end of stroke position. Astepped stop may be designed to gradually arrest the movement of thecutting member. Once the cutting member contacts the distal wall of thestepped stop, the firing assembly will have reached the distal-mostposition. The controller may look for a first expected force to notifythe user of the surgical instrument that the firing member assembly isnearing the end of stroke position. The controller may also look for asecond expected force the firing member will experience when the firingmember reaches an end of stroke position.

Examples

Example 1—A surgical instrument system comprising an end effectorincluding an anvil, a staple cartridge comprising a proximal end, adistal end, a plurality of staple cavities, and a plurality of staplesremovably stored in the staple cavities, and a sled slidable within thestaple cartridge to move the staples toward the anvil. The surgicalinstrument system further comprising a firing member movable relative tothe staple cartridge to move the sled from the proximal end toward thedistal end of the staple cartridge during a firing stroke, a shaftdefining a longitudinal axis, an articulation joint, wherein the endeffector is rotatably connected to the shaft about the articulationjoint between an unarticulated position and an articulated position, andadjusting means for adjusting the length of the firing stroke as afunction of the degree in which the end effector is articulated relativeto the longitudinal axis.

Example 2—The surgical instrument system of Example 1, furthercomprising means for determining the position of the firing memberduring the firing stroke.

Example 3—The surgical instrument system of Examples 2 or 3, furthercomprising sensing means for sensing the degree of articulation of theend effector relative to the longitudinal axis.

Example 4—The surgical instrument system of Example 3, furthercomprising a flexible firing bar extending through the articulationjoint, wherein the flexible firing bar comprises a plurality of lateralportions, and wherein the sensing means comprises means for detectingthe relative positions of the lateral portions.

Example 5—The surgical instrument system of Examples 3 or 4, wherein theadjusting means comprises a controller in communication with the sensingmeans, wherein the controller is configured to adjust the length of thefiring stroke based on feedback from the sensing means.

Example 6—The surgical instrument system of Examples 1, 2, 3, 4, or 5,wherein the adjusting means comprises a firing path shifter.

Example 7—A surgical instrument system, comprising an end effectorincluding an anvil and a staple cartridge comprising a plurality ofstaple cavities and a plurality of staples removably stored in thestaple cavities, a shaft defining a longitudinal axis, and anarticulation joint, wherein the end effector is rotatably connected tothe shaft at the articulation joint between an unarticulated positionand a plurality of articulated positions relative to the longitudinalaxis. The surgical instrument system further comprises a flexible firingbar extending through the articulation joint, wherein the flexiblefiring bar comprises a proximal end positioned proximal to thearticulation joint, a distal end positioned distal to the articulationjoint, and a plurality of lateral portions extending through thearticulation joint, wherein the lateral portions are configured to shiftrelative to each other at the proximal end when the end effector ismoved to an articulated position. The surgical instrument system furthercomprises a sensor configured to defect shifting between a first lateralportion and a second lateral portion at the proximal end of the flexiblefiring bar.

Example 8—The surgical instrument system of Example 7, wherein thesensor comprises a Hall effect sensor, and wherein at least one magnetis positioned on the flexible firing bar.

Example 9—The surgical instrument system of Examples 7 or 8, wherein thesensor comprises a linear encoder.

Example 10—The surgical instrument system of Examples 7, 8, or 9,wherein the sensor comprises a rotary encoder.

Example 11—The surgical instrument system of Examples 7, 8, 9, or 10,wherein the sensor comprises a flexible band comprising an electricallyactive polymer.

Example 12—The surgical instrument system of Examples 7, 8, 9, 10, or11, wherein the sensor comprises at least one first contact on the firstlateral portion, and at least one second contact on the second lateralportion, wherein the second lateral portion is adjacent to the firstlateral portion.

Example 13—A surgical instrument system comprising an end effectorincluding an anvil and a staple cartridge comprising a plurality ofstaple cavities and a plurality of staples removably stored in thestaple cavities, a shaft defining a longitudinal axis, an articulationjoint, wherein the end effector is rotatably connected to the shaft atthe articulation joint between an unarticulated position and at leastone articulated position relative to the longitudinal axis, a flexiblefiring member extending through the articulation joint, wherein theflexible firing member comprises a plurality of lateral portions, andwherein the lateral portions are configured to shift relative to eachother when the end effector is moved to the at least one articulatedposition, and a relief feature configured to accommodate shifting of thelateral portions of the flexible firing member.

Example 14—The surgical instrument system of Example 13, furthercomprising a rigid firing rod extending through the shaft, wherein therigid firing rod is coupled to the flexible firing member, and whereinthe relief feature is positioned intermediate the flexible firing memberand the rigid firing rod.

Example 15—The surgical instrument system of Examples 13 or 14, whereinthe flexible firing member is comprised of a first material having afirst durometer hardness, wherein the relief feature is comprised of asecond material having a second durometer hardness, and wherein thesecond durometer hardness is less than the first durometer hardness.

Example 16—The surgical instrument system of Examples 13, 14, or 15,wherein the staple cartridge further comprises a sled slidable withinthe staple cartridge to move the staples toward the anvil, and whereinthe relief feature is positioned intermediate the sled and the flexiblefiring member.

Example 17—The surgical instrument system of Examples 13, 14, 15, or 16,wherein a longitudinal slot is defined through at least a portion of thestaple cartridge, and wherein the relief feature comprises a bridgeextending across the longitudinal slot.

Example 18—The surgical instrument system of Examples 13, 14, 15, 16, or17, wherein the relief feature comprises a frangible member.

Example 19—The surgical instrument system of Examples 13, 14, 15, 16,17, or 18, wherein the staple cartridge comprises a distal end wall, andwherein the relief feature comprises at least one aperture through thedistal end wall.

Example 20—The surgical instrument system of Examples 13, 14, 15, 16,17, 18, or 19 wherein the relief feature comprises a hard stopcomprising a plurality of steps.

The entire disclosures of the following documents are herebyincorporated by reference herein in their respective entireties:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat.        No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Pat. No. 9,345,481;    -   U.S. patent application Ser. No. 13/800,067, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Patent Application Publication No. 2014/0263552;    -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

1-20. (canceled)
 21. A surgical system, comprising: an end effector,comprising: a first jaw; a second jaw movable relative to the first jawbetween an open position and a closed position; and a staple cartridgecomprising a plurality of staples removably stored therein; a firingmember movable between a proximal position and a distal position,wherein the staples are deployable from the staple cartridge based onthe firing member moving toward the distal position; an elongate shaft;an articulation joint, wherein the end effector is rotatably relative tothe elongate shaft about the articulation joint; an articulation controlsystem configured to articulate the end effector about the articulationjoint; a closure system configured to move the second jaw toward theclosed position; a motor configured to drive the firing member betweenthe proximal position and the distal position; and a control systemconfigured to monitor a current draw by the motor, wherein the controlsystem is configured to adjust the current draw by the motor based onthe monitored current draw exceeding a threshold.
 22. The surgicalsystem of claim 21, wherein the threshold is indicative of the firingmember reaching the distal position.
 23. The surgical system of claim21, wherein the control system is further configured to reverse apolarity of a voltage applied to the motor based on the monitoredcurrent draw exceeding the threshold.
 24. The surgical system of claim21, further comprising a sensor configured to detect when the firingmember has reached the distal position.
 25. The surgical system of claim24, wherein the sensor comprises a proximity sensor.
 26. The surgicalsystem of claim 24, wherein the sensor comprises a Hall-Effect sensor.27. The surgical system of claim 21, wherein the control systemcomprises means for generating feedback indicative of the firing memberreaching the distal position.
 28. The surgical system of claim 21,wherein the firing member comprises a knife.
 29. A surgical instrument,comprising: an end effector, comprising: an anvil; an elongate channel,wherein the anvil and the elongate channel are configurable between anopen configuration and a closed configuration; and a staple cartridgeremovably positioned in the elongate channel, wherein the staplecartridge comprises a plurality of staples removably stored therein; afiring member movable between a starting position and an endingposition, wherein the staples are deployable from the staple cartridgebased on the firing member moving toward the ending position; anelongate shaft; an articulation pivot, wherein the end effector isrotatably relative to the elongate shaft about the articulation pivot;an articulation control system configured to articulate the end effectorabout the articulation pivot; a closure system configured to place theanvil and the elongate channel in the closed configuration; a motorconfigured to drive the firing member between the starting position andthe ending position; and a control system configured to monitor acurrent draw by the motor, wherein the control system is configured tochange the current draw by the motor based on the monitored current drawexceeding a threshold.
 30. The surgical instrument of claim 29, whereinthe threshold is indicative of the firing member reaching the endingposition.
 31. The surgical instrument of claim 29, wherein the controlsystem is further configured to reverse a polarity of a voltage appliedto the motor based on the monitored current draw exceeding thethreshold.
 32. The surgical instrument of claim 29, further comprising asensor configured to detect when the firing member has reached theending position.
 33. The surgical instrument of claim 32, wherein thesensor comprises a proximity sensor.
 34. The surgical instrument ofclaim 32, wherein the sensor comprises a Hall-Effect sensor.
 35. Thesurgical instrument of claim 29, wherein the control system comprisesmeans for generating feedback indicative of the firing member reachingthe ending position.
 36. The surgical instrument of claim 29, whereinthe firing member comprises a knife.
 37. A surgical system, comprising:an end effector, comprising: a first jaw; a second jaw movable relativeto the first jaw between an open position and a clamped position; and afastener cartridge comprising a plurality of fasteners removably storedtherein; a firing member movable between a proximal position and adistal position, wherein the fasteners are deployable from the fastenercartridge based on the firing member moving toward the distal position;an elongate shaft; an articulation joint, wherein the end effector isrotatably relative to the elongate shaft about the articulation joint;an articulation drive system configured to drive the end effector aboutthe articulation joint; a clamping system configured to move the secondjaw toward the clamped position; a motor configured to drive the firingmember between the proximal position and the distal position; and acontrol circuit configured to monitor a current draw by the motor,wherein the control circuit is configured to adjust the current draw bythe motor based on the monitored current draw exceeding a threshold. 38.The surgical system of claim 37, wherein the threshold is indicative ofthe firing member reaching the distal position.
 39. The surgical systemof claim 37, wherein the control circuit is further configured toreverse a polarity of a voltage applied to the motor based on themonitored current draw exceeding the threshold.
 40. The surgical systemof claim 37, further comprising a sensor configured to detect when thefiring member has reached the distal position.